Название: Multi-body Dynamic Modeling of Multi-legged Robots Автор: Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar Издательство: Springer Год: 2020 Формат: PDF Страниц: 230 Размер: 11,17 МБ Язык: English
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.
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Multi-body Dynamic Modeling of Multi-legged Robots 
