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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.
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.
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