國立高雄大學圖資館 |

Language: English

Back

Multi-body dynamic modeling of multi...

Mahapatra, Abhijit.

Multi-body dynamic modeling of multi-legged robots

Record Type:	Electronic resources : Monograph/item
Title/Author:	Multi-body dynamic modeling of multi-legged robotsby Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar.
Author:	Mahapatra, Abhijit.
other author:	Roy, Shibendu Shekhar.
Published:	Singapore :Springer Singapore :2020.
Description:	xxxi, 203 p. :ill., digital ;24 cm.
Contained By:	Springer eBooks
Subject:	RoboticsMathematical models.
Online resource:	https://doi.org/10.1007/978-981-15-2953-5
ISBN:	9789811529535$q(electronic bk.)

Multi-body dynamic modeling of multi-legged robots
Mahapatra, Abhijit.

Multi-body dynamic modeling of multi-legged robots[electronic resource] /by Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar. - Singapore :Springer Singapore :2020. - xxxi, 203 p. :ill., digital ;24 cm. - Cognitive intelligence and robotics,2520-1956. - Cognitive intelligence and robotics..

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.

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.

ISBN: 9789811529535$q(electronic bk.)

Standard No.: 10.1007/978-981-15-2953-5doiSubjects--Topical Terms:

618373
Robotics
--Mathematical models.

LC Class. No.: TJ211 / .M34 2020

Dewey Class. No.: 629.892

Multi-body dynamic modeling of multi-legged robots
LDR:02557nmm a2200337 a 4500 001 574753
003 DE-He213
005 20200227043759.0
006 m d
007 cr nn 008maaau
008 201016s2020 si s 0 eng d
020 $a 9789811529535$q(electronic bk.)
020 $a 9789811529528$q(paper)
024 7 $a 10.1007/978-981-15-2953-5 $2 doi
035 $a 978-981-15-2953-5
040 $a GP $c GP
041 0 $a eng
050 4 $a TJ211 $b .M34 2020
072 7 $a UYQ $2 bicssc
072 7 $a COM004000 $2 bisacsh
072 7 $a UYQ $2 thema
082 0 4 $a 629.892 $2 23
090 $a TJ211 $b .M214 2020
100 1 $a Mahapatra, Abhijit. $3 862471
245 1 0 $a Multi-body dynamic modeling of multi-legged robots $h [electronic resource] / $c by Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar.
260 $a Singapore : $b Springer Singapore : $b Imprint: Springer, $c 2020.
300 $a xxxi, 203 p. : $b ill., digital ; $c 24 cm.
490 1 $a Cognitive intelligence and robotics, $x 2520-1956
505 0 $a 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.
520 $a 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.
650 0 $a Robotics $x Mathematical models. $3 618373
650 1 4 $a Artificial Intelligence. $3 212515
650 2 4 $a Robotics and Automation. $3 357111
700 1 $a Roy, Shibendu Shekhar. $3 862472
700 1 $a Pratihar, Dilip Kumar. $3 456717
710 2 $a SpringerLink (Online service) $3 273601
773 0 $t Springer eBooks
830 0 $a Cognitive intelligence and robotics. $3 820707
856 4 0 $u https://doi.org/10.1007/978-981-15-2953-5
950 $a Computer Science (Springer-11645)