Multi-body Dynamic Modeling of Multi-legged Robots

Multi-body Dynamic Modeling of Multi-legged Robots
Author: Abhijit Mahapatra
Publisher: Springer Nature
Total Pages: 203
Release: 2020-02-27
Genre: Computers
ISBN: 9811529531


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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.


Multi-body Dynamic Modeling of Multi-legged Robots
Language: en
Pages: 203
Authors: Abhijit Mahapatra
Categories: Computers
Type: BOOK - Published: 2020-02-27 - Publisher: Springer Nature

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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 loco
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Authors: Hubert Gattringer
Categories: Technology & Engineering
Type: BOOK - Published: 2013-01-06 - Publisher: Springer Science & Business Media

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The volume contains 19 contributions by international experts in the field of multibody system dynamics, robotics and control. The book aims to bridge the gap b
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Categories: Technology & Engineering
Type: BOOK - Published: 2010-12-17 - Publisher: Springer Science & Business Media

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Robot and Multibody Dynamics: Analysis and Algorithms provides a comprehensive and detailed exposition of a new mathematical approach, referred to as the Spatia
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Authors: Kathryn Lilly
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Efficient Dynamic Simulation of Robotic Mechanisms presents computationally efficient algorithms for the dynamic simulation of closed-chain robotic systems. In
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Language: en
Pages: 316
Authors: Huayong Yang
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