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Books > Professional & Technical > Energy technology & engineering > Electrical engineering
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A General Model of Legged Locomotion on Natural Terrain (Paperback, Softcover reprint of the original 1st ed. 1992)
Loot Price: R1,491
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A General Model of Legged Locomotion on Natural Terrain (Paperback, Softcover reprint of the original 1st ed. 1992)
Series: The Springer International Series in Engineering and Computer Science, 179
Expected to ship within 10 - 15 working days
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Dynamic modeling 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 redistribution of
forces throughout the system. A General Model of Legged Locomotion
on Natural Terrain 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 modeling and solution procedures are general to
all walking machine configurations, including bipeds, quadrupeds,
beam-walkers and hopping machines. This work develops a functional
model of legged locomotion that incorporates, for the first time,
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, cooperating manipulators, multi-fingered hands, and
prehensile agents.
General
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