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Design of Dynamic Legged Robots (Paperback)
Loot Price: R1,562
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Design of Dynamic Legged Robots (Paperback)
Series: Foundations and Trends (R) in Robotics
Expected to ship within 10 - 15 working days
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Inspired by the remarkable locomotion capabilities illustrated by
animals across land, sea and air, robotics engineers have strived
for decades to achieve similar dynamic locomotion capabilities in
legged machines. Learning from animals' compliant structures and
ways of utilizing them, engineers have developed numerous novel
mechanisms that allow for more dynamic, more efficient legged
systems. These newly emerging robotic systems possess
distinguishing mechanical characteristics in contrast to
manufacturing robots in factories and pave the way for a new era of
mobile robots to serve our society. Realizing the full capabilities
of these new legged robots is a multi-factorial research problem,
requiring coordinated advances in design, control, perception,
state estimation, navigation and other areas. Design of Dynamic
Legged Robots focuses on the mechanical design of legged robots. It
introduces the topic by looking at the history of legged robots,
taking us up to the dynamic legged machines that are today pushing
the boundaries of speed and performance through advances in
materials, design, and control. It goes on to discuss some of the
main challenges to actuator design in legged robots and discusses a
recently developed technology called proprioceptive actuators in
order to meet the needs of today's legged machines. It proceeds to
discuss philosophical perspectives on designing for energetic
efficiency, a critical aspect of legged robot design. The
penultimate chapter discusses trends in leg design and presents a
case study using principles from observations in biology to design
a leg for the MIT Cheetah robot, and concludes with a summary of
future directions and applications.
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