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A General Model of Legged Locomotion on Natural Terrain (Hardcover)
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A General Model of Legged Locomotion on Natural Terrain (Hardcover)
Series: The Springer International Series in Engineering and Computer Science, v. 179
Expected to ship within 12 - 17 working days
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Dynamic modelling is the fundamental building block for mechanism
analysis, design, control and performance evaluation. One class of
mechanism, legged machines, have multiple closed-chains established
through intermittent ground contacts. Further, walking on natural
terrain introduces nonlinear system compliance in the forms of foot
sinkage and slippage. Closed-chains constrain the possible motions
of a mechanism while compliances affect the redistrubution of
forces throughout the system. "A General Model of Legged Locomotion
on Natural Terain" develops a dynamic mechanism model that
characterizes indeterminate interactions of a closed-chain robot
with its environment. The approach is applicable to any
closed-chain mechanism with sufficient contact compliance, although
legged locomotion on natural terrain is chosen to illustrate the
methodology. The modelling and solution procedures are general to
all walking machine configurations, including bipeds, quadrupeds,
beam-walkers and hopping machines. The book develops a functional
model of legged locomotion that incorporates non-conservative
foot-soil interactions in a nonlinear dynamic formulation. The
model was applied to a prototype walking machine and simulations
generated significant insights into walking machine performance on
natural terrain. The simulations are original and essential
contributions to the design, evaluation and control of these
complex robot systems. While posed in the context of walking
machines, the approach has wider applicability to rolling
locomotors, co-operating manipulators, multi-fingered hands and
prehensile agents.
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