Multi-body Dynamic Modeling of Multi-legged Robots (Paperback, 1st ed. 2020)

This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases, and various user-defined rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments. The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton-Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.

General

Imprint:	Springer Verlag, Singapore
Country of origin:	Singapore
Series:	Cognitive Intelligence and Robotics
Release date:	February 2021
First published:	2020
Authors:	Abhijit Mahapatra • Shibendu Shekhar Roy • Dilip Kumar Pratihar
Dimensions:	235 x 155mm (L x W)
Format:	Paperback
Pages:	203
Edition:	1st ed. 2020
ISBN-13:	978-981-15-2955-9
Categories:	Books > Computing & IT > Applications of computing > Artificial intelligence > General Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
LSN:	981-15-2955-8
Barcode:	9789811529559

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