Multi-body Dynamic Modeling of Multi-legged Robots
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-de...
| Main Authors: | , , |
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| Format: | eBook |
| Language: | English |
| Published: |
Singapore
Springer Nature Singapore
2020, 2020
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| Edition: | 1st ed. 2020 |
| Series: | Cognitive Intelligence and Robotics
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| Subjects: | |
| Online Access: | |
| Collection: | Springer eBooks 2005- - Collection details see MPG.ReNa |
Table of 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