Advertisement

Multi-body Dynamic Modeling of Multi-legged Robots

  • Abhijit Mahapatra
  • Shibendu Shekhar Roy
  • Dilip Kumar Pratihar
Book
  • 337 Downloads

Part of the Cognitive Intelligence and Robotics book series (CIR)

Table of contents

  1. Front Matter
    Pages i-xxxi
  2. Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar
    Pages 1-9
  3. Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar
    Pages 11-32
  4. Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar
    Pages 33-76
  5. Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar
    Pages 77-135
  6. Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar
    Pages 137-164
  7. Back Matter
    Pages 165-203

About this book

Introduction

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.

Keywords

Multi-Legged Robots Coupled Multi-Body Dynamics Foot-Terrain Interaction Energy Consumption Dynamic Stability

Authors and affiliations

  • Abhijit Mahapatra
    • 1
  • Shibendu Shekhar Roy
    • 2
  • Dilip Kumar Pratihar
    • 3
  1. 1.Advance Design and Analysis GroupCentral Mechanical Engineering Research InstituteDurgapurIndia
  2. 2.Department of Mechanical EngineeringNational Institute of Technology DurgapurDurgapurIndia
  3. 3.Department of Mechanical EngineeringIndian Institute of Technology KharagpurKharagpurIndia

Bibliographic information

  • DOI https://doi.org/10.1007/978-981-15-2953-5
  • Copyright Information Springer Nature Singapore Pte Ltd. 2020
  • Publisher Name Springer, Singapore
  • eBook Packages Computer Science
  • Print ISBN 978-981-15-2952-8
  • Online ISBN 978-981-15-2953-5
  • Series Print ISSN 2520-1956
  • Series Online ISSN 2520-1964
  • Buy this book on publisher's site