Skip to main content
SpringerLink
Log in
Book cover

Multi-body Dynamic Modeling of Multi-legged Robots pp 33–76Cite as

Kinematic Modeling and Analysis of Six-Legged Robots

  • Chapter
  • First Online:

  • 831 Accesses

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

Abstract

In this chapter an integrated approach to carry out kinematic modeling and computer simulations of the motions and mechanisms of six-legged robots producing straight-forward , crab and turning gaits is explained.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. H. Hahn, Rigid Body Dynamics of Mechanisms, 1st edn. (Springer, Berlin, Heidelberg, 2002)

    Book  Google Scholar 

  2. A. Mahapatra, S.S. Roy, D.K. Pratihar, Computer aided modeling and analysis of turning motion of hexapod robot on varying terrains. Int. J. Mech. Mater. Des. 11(3), 309–336 (2015)

    Article  Google Scholar 

  3. MSC.ADAMS Documentation and help user guide (2010). https://simcompanion.mscsoftware.com/infocenter. MSC Software Corporation

  4. P.E. Nikravesh, Computer-Aided Analysis of Mechanical Systems (Prentice Hall, Englewood Cliffs, NJ, 1988)

    Google Scholar 

  5. S.M. Song, K.J. Waldron, Machines That Walk: The Adaptive Suspension Vehicle (The MIT Press, Cambridge, 1989)

    Google Scholar 

  6. S. Tickoo, D. Maini, V. Raina, CATIA V5R16 for Engineers and Designers (Dreamtech Press, New Delhi, 2007)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Advance Design and Analysis Group, Central Mechanical Engineering Research Institute, Durgapur, West Bengal, India

    Abhijit Mahapatra

  2. Department of Mechanical Engineering, National Institute of Technology Durgapur, Durgapur, West Bengal, India

    Shibendu Shekhar Roy

  3. Department of Mechanical Engineering, Indian Institute of Technology Kharagpur, Kharagpur, West Bengal, India

    Dilip Kumar Pratihar

Authors
  1. Abhijit Mahapatra
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Shibendu Shekhar Roy
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Dilip Kumar Pratihar
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Abhijit Mahapatra .

Rights and permissions

Reprints and permissions

Copyright information

© 2020 Springer Nature Singapore Pte Ltd.

About this chapter

Check for updates. Verify currency and authenticity via CrossMark

Cite this chapter

Mahapatra, A., Roy, S.S., Pratihar, D.K. (2020). Kinematic Modeling and Analysis of Six-Legged Robots. In: Multi-body Dynamic Modeling of Multi-legged Robots. Cognitive Intelligence and Robotics. Springer, Singapore. https://doi.org/10.1007/978-981-15-2953-5_3

Download citation

  • DOI: https://doi.org/10.1007/978-981-15-2953-5_3

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-15-2952-8

  • Online ISBN: 978-981-15-2953-5

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation