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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.
| Autorius: | Abhijit Mahapatra, Dilip Kumar Pratihar, Shibendu Shekhar Roy, |
| Serija: | Cognitive Intelligence and Robotics |
| Leidėjas: | Springer Nature Singapore |
| Išleidimo metai: | 2021 |
| Knygos puslapių skaičius: | 236 |
| ISBN-10: | 9811529558 |
| ISBN-13: | 9789811529559 |
| Formatas: | 235 x 155 x 13 mm. Knyga minkštu viršeliu |
| Kalba: | Anglų |
Parašykite atsiliepimą apie „Multi-body Dynamic Modeling of Multi-legged Robots“
