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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 gathers outstanding papers presented at the International
Conference on Advances in Materials and Manufacturing Engineering
(ICAMME 2019), held at KIIT Deemed to be University, Bhubaneswar,
India, from 15 to 17 March 2019. It covers theoretical and
empirical developments in various areas of mechanical engineering,
including manufacturing, production, machine design, fluid/thermal
engineering, and materials.
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 gathers outstanding papers presented at the International
Conference on Advances in Materials and Manufacturing Engineering
(ICAMME 2019), held at KIIT Deemed to be University, Bhubaneswar,
India, from 15 to 17 March 2019. It covers theoretical and
empirical developments in various areas of mechanical engineering,
including manufacturing, production, machine design, fluid/thermal
engineering, and materials.
Intelligent Autonomous Systems (IAS) are the physical embodiment of
machine intelligence providing a core concept for integrating
various advanced techno- gies with pattern recognition and
learning. The basic philosophy of IAS research is to explore and
understand the nature of intelligence in problems of perception,
reasoning, learning and control in order to develop and implement
the theory to engineered realization. In other words, the objective
is to formulate various me- odologies for the development of robots
which can operate autonomously and exhibit intelligent behavior by
making appropriate decisions to perform the right task at the right
time. Since IAS basically deals with the integration of machines,
computing, sensing, and software to create intelligent systems
capable of intera- ing with the complexities of the real world,
advanced topics like soft computing, artificial life, evolutionary
biology, and cognitive psychology have great promise in improving
its intelligence and performance. Because of the inter-disciplinary
character, the subject has several challenging issues for research,
design and development covering a number of disciplines. These
issues are further concerned with the development of both
technology and methodology apart from various operations. The
present research monograph titled "Intelligent Autonomous Systems:
Foundations and Applications", edited by two renowned researchers,
Professor Dilip K. Pratihar of IIT, Kharagpur, India and Professor
Lakhmi C. Jain, Univ- sity of South Australia, Australia, provides
a fairly representative cross-section of the activities that is
going on all over the world in this area.
Intelligent Autonomous Systems (IAS) are the physical embodiment of
machine intelligence providing a core concept for integrating
various advanced techno- gies with pattern recognition and
learning. The basic philosophy of IAS research is to explore and
understand the nature of intelligence in problems of perception,
reasoning, learning and control in order to develop and implement
the theory to engineered realization. In other words, the objective
is to formulate various me- odologies for the development of robots
which can operate autonomously and exhibit intelligent behavior by
making appropriate decisions to perform the right task at the right
time. Since IAS basically deals with the integration of machines,
computing, sensing, and software to create intelligent systems
capable of intera- ing with the complexities of the real world,
advanced topics like soft computing, artificial life, evolutionary
biology, and cognitive psychology have great promise in improving
its intelligence and performance. Because of the inter-disciplinary
character, the subject has several challenging issues for research,
design and development covering a number of disciplines. These
issues are further concerned with the development of both
technology and methodology apart from various operations. The
present research monograph titled "Intelligent Autonomous Systems:
Foundations and Applications", edited by two renowned researchers,
Professor Dilip K. Pratihar of IIT, Kharagpur, India and Professor
Lakhmi C. Jain, Univ- sity of South Australia, Australia, provides
a fairly representative cross-section of the activities that is
going on all over the world in this area.
Over the last four decades, the legged robots had been widely
investigated due to their better mobility and terrain adaptability
characteristics, while moving on natural terrains. Kinematics,
dynamics, stability and energy consumption analysis of different
types of gaits are the key elements of study in the field of
multi-legged robots' locomotion. In the present book, a systematic
analytical model has been developed to study the kinematics and
dynamics along with energy efficiency and stability of a realistic
six-legged robot, negotiating straight-forward, crab and turning
motions. Moreover, soft computing-based models, namely
back-propagation algorithm-tuned multiple adaptive neuro-fuzzy
inference systems; genetic algorithm-tuned multiple adaptive
neuro-fuzzy inference systems; genetic algorithm-tuned coactive
neuro-fuzzy inference systems and genetic algorithm-tuned
back-propagation neural networks, have been developed to predict
specific energy consumption and normalized energy stability margin
in straight, crab and turning motions of the said robot. This book
could be useful to researchers and technologists working in the
field of mobile robots.
FUNDAMENTALS OF ROBOTICS starts with an introduction to robots and
robotics. It then deals with the fundamentals of robot kinematics.
Trajectory planning schemes are discussed in Chapter 3. To
determine joint torques of serial manipulators, dynamic analysis is
then carried out and a suitable control scheme is explained in
order to achieve the same. Chapter 5 presents an analysis on
wheeled robot. Analysis of biped robot is then carried out in
Chapter 6. The working principles of various sensors used in robots
are discussed in Chapter 7. Fundamentals of robot vision are
explained in chapter 8. Motion planning algorithms are then
discussed in Chapter 9. Therefore, this book deals with all four
sub-areas of this field, that is, robot kinematics, dynamics,
control scheme and issues related to intelligence. It has been
written to fulfill the requirements of a large number of readers
belonging to various disciplines of engineering. It will be helpful
to the students, scientists and practicing engineers.Some special
features of this book are as follows:* Easy to understand text* A
separate chapter on wheeled robot* A separate chapter on legged
robot* A detailed discussion on robot motion planning
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