| Description |
1 online resource (230 pages) |
| Series |
Cognitive Intelligence and Robotics |
|
Cognitive Intelligence and Robotics
|
| Contents |
Introduction -- Introduction to multi-legged robots -- Multi-legged robots- a Review -- Gait Planning of multi-legged robots -- Kinematic Modeling and Analysis of Six-Legged Robots -- Kinematic Modeling and Analysis of Six-Legged Robots -- Locomotion planning on various terrains -- Multi-body Inverse Dynamic Modeling and Analysis of Six-Legged Robots -- Analytical Framework -- Static Equilibrium Moment Equation -- Study of performance indices- power consumption and stability measure -- Validation using Virtual Prototyping tools and Experiments -- Modeling using Virtual prototyping tools |
| Summary |
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 |
| Bibliography |
Includes bibliographical references and index |
| Notes |
Print version record |
| Subject |
Robotics -- Mathematical models
|
|
Robotics -- Mathematical models
|
| Form |
Electronic book
|
| Author |
Roy, Shibendu Shekhar
|
|
Pratihar, Dilip Kumar.
|
| ISBN |
9789811529535 |
|
9811529531 |
|
