國立虎尾科技大學 |

Multi-body Dynamic Modeling of Multi-legged Robots

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Multi-body Dynamic Modeling of Multi-legged Robots/ by Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar.
作者:	Mahapatra, Abhijit.
其他作者:	Pratihar, Dilip Kumar.
面頁冊數:	XXXI, 203 p. 81 illus., 72 illus. in color.online resource. :
Contained By:	Springer Nature eBook
標題:	Robotics and Automation. -
電子資源:	https://doi.org/10.1007/978-981-15-2953-5
ISBN:	9789811529535

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. - 1st ed. 2020. - XXXI, 203 p. 81 illus., 72 illus. in color.online resource. - 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

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

782979
Robotics and Automation.

LC Class. No.: Q334-342

Dewey Class. No.: 006.3

Multi-body Dynamic Modeling of Multi-legged Robots
LDR:02927nam a22004095i 4500 001 1026526
003 DE-He213
005 20200702131342.0
007 cr nn 008mamaa
008 210318s2020 si | s |||| 0|eng d
020 $a 9789811529535 $9 978-981-15-2953-5
024 7 $a 10.1007/978-981-15-2953-5 $2 doi
035 $a 978-981-15-2953-5
050 4 $a Q334-342
072 7 $a UYQ $2 bicssc
072 7 $a COM004000 $2 bisacsh
072 7 $a UYQ $2 thema
082 0 4 $a 006.3 $2 23
100 1 $a Mahapatra, Abhijit. $e author. $4 aut $4 http://id.loc.gov/vocabulary/relators/aut $3 1322844
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.
250 $a 1st ed. 2020.
264 1 $a Singapore : $b Springer Singapore : $b Imprint: Springer, $c 2020.
300 $a XXXI, 203 p. 81 illus., 72 illus. in color. $b online resource.
336 $a text $b txt $2 rdacontent
337 $a computer $b c $2 rdamedia
338 $a online resource $b cr $2 rdacarrier
347 $a text file $b PDF $2 rda
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 2 4 $a Robotics and Automation. $3 782979
650 1 4 $a Artificial Intelligence. $3 646849
650 0 $a Automation. $3 596698
650 0 $a Robotics. $3 561941
650 0 $a Artificial intelligence. $3 559380
700 1 $a Pratihar, Dilip Kumar. $4 aut $4 http://id.loc.gov/vocabulary/relators/aut $3 1166951
700 1 $a Roy, Shibendu Shekhar. $e author. $4 aut $4 http://id.loc.gov/vocabulary/relators/aut $3 1322845
710 2 $a SpringerLink (Online service) $3 593884
773 0 $t Springer Nature eBook
776 0 8 $i Printed edition: $z 9789811529528
776 0 8 $i Printed edition: $z 9789811529542
776 0 8 $i Printed edition: $z 9789811529559
830 0 $a Cognitive Intelligence and Robotics, $x 2520-1956 $3 1279326
856 4 0 $u https://doi.org/10.1007/978-981-15-2953-5
912 $a ZDB-2-SCS
912 $a ZDB-2-SXCS
950 $a Computer Science (SpringerNature-11645)
950 $a Computer Science (R0) (SpringerNature-43710)