| 书目名称 | Multi-body Dynamic Modeling of Multi-legged Robots |
| 编辑 | Abhijit Mahapatra,Shibendu Shekhar Roy,Dilip Kumar |
| 视频video | |
| 概述 | Offers a clear and thorough presentation of the fundamental principles of legged systems and their dynamics.Describes the basic concept of constrained mechanics and multi-body robotic systems.Includes |
| 丛书名称 | Cognitive Intelligence and Robotics |
| 图书封面 |  |
| 描述 | .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.. |
| 出版日期 | Book 2020 |
| 关键词 | Multi-Legged Robots; Coupled Multi-Body Dynamics; Foot-Terrain Interaction; Energy Consumption; Dynamic |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-981-15-2953-5 |
| isbn_softcover | 978-981-15-2955-9 |
| isbn_ebook | 978-981-15-2953-5Series ISSN 2520-1956 Series E-ISSN 2520-1964 |
| issn_series | 2520-1956 |
| copyright | Springer Nature Singapore Pte Ltd. 2020 |
发表于 2025-3-21 17:01:18
