Multi-body dynamic modeling of multi-legged robots
- Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar.
- Singapore : Springer, 2020.
- Physical description
- 1 online resource (230 pages)
- Cognitive Intelligence and Robotics.
- Includes bibliographical references and index.
- Chapter 1 Introduction 1.1 Introduction to Multi-legged robots1.2 Gait Planning of six-legged robots1.3 Literature Review of legged robot1.3.1 Kinematics of legged robots1.3.2 Dynamics of legged robots1.3.3 Foot-ground contact modeling1.3.4 Foot Force Distribution and power consumption1.3.5 Stability of legged robots1.4 Gaps in Literature1.5 Aims and Objectives1.6 Book Overview1.7 Book's Contributions1.8 Summary
- Chapter 2 Kinematic Modeling and Analysis of Six-Legged Robots 2.1 Description of the Problem2.1.1 Description of Proposed Six-legged Walking Robot2.1.2 Gait Terminologies and their Relationships2.1.3 Steps involved in Proposed Methodology2.2 Analytical Framework2.2.1 Reference system in cartesian coordinates2.2.2 Kinematic constraint equations2.2.3 Inverse Kinematic Model of the six-legged robotic system2.2.4 Terrain model2.2.5 Locomotion planning on varying terrain18.104.22.168 Motion planning for robot's body22.214.171.124 Swing leg trajectory planning126.96.36.199 Foot Slip During Support Phase2.2.6 Gait planning strategy2.2.7 Evaluation of kinematic parameters2.2.8 Estimation of aggregate center of mass2.3 Numerical Simulation: Study of kinematic motion parameters2.3.1 Case Study 1: Robot motion in an uneven terrain with straight-forward motion (DF=1/2)2.3.2 Case Study 2: Crab Motion of the robot on a banked terrain (DF=3/4)2.4 Summary
- Chapter 3 Multi-body Inverse Dynamic Modeling and Analysis of Six-Legged Robots 3.1 Analytical Framework3.1.1 Implicit Constrained Inverse Dynamic Model3.1.2 Newtonian Mechanics with Explicit Constraints 3.1.3 Three Dimensional Contact Force Model 188.8.131.52 Compliant contact-impact model 184.108.40.206 Interactive forces and moments 220.127.116.11 Amonton-Coulomb's friction model 3.1.4 Static Equilibrium Moment Equation 3.1.5 Actuator torque limits 3.1.6 Optimal feet forces' distributions 3.1.7 Energy consumption of a six-legged robot 3.1.8 Stability measures of six-legged robots 18.104.22.168. Statically-stable walking based on ESM, NESM 22.214.171.124. Dynamically stable walking based on DGSM 3.2 Numerical Illustrations 3.2.1 Study of optimal feet forces' distribution 126.96.36.199 Case Study 1: Robot motion in an uneven terrain with straight-forward motion (DF=1/2) 188.8.131.52 Case Study 2: Crab Motion of the robot on a banked surface (DF=3/4) 3.2.2 Study of performance indices- power consumption and stability measure 184.108.40.206 Effect of trunk body velocity on energy consumption and stability 220.127.116.11 Effect of stroke on energy consumption and stability 18.104.22.168 Effect of body height on energy consumption and stability 22.214.171.124 Effect of leg offset on energy consumption and stability 126.96.36.199 Effect of variable geometry of trunk body on energy consumption and stability 188.8.131.52 Effect of crab angle on energy consumption and stability 3.3 Summary
- Chapter 4 Validation using Virtual Prototyping tools and Experiments 4.1 Modeling using Virtual prototyping tools 4.2 Numerical Simulation and Validation using VP Tools and Experiments 4.2.1. Validation of Kinematic motion parameters 184.108.40.206 Case Study 1: Crab motion of the robot to avoid obstacle on a flat terrain 220.127.116.11 Case Study 2: Turning Motion of the robot on a banked surface 18.104.22.168 Case Study 3: Turning Motion of the robot in an uneven terrain 4.2.2. Validation of Dynamic motion parameters 22.214.171.124 Case Study 1: Staircase climbing of the robot with straight-forward motion 126.96.36.199 Case Study 2: Experimentation with a Hex Crawler HDATS robot maneuvering on a concrete floor with straight-forward motion 188.8.131.52 Case Study 3: Experimentation with a Hex Crawler HDATS robot maneuvering on a concrete floor with Crab Motion motion (DF=1/2) 4.3 Summary
- Chapter 5 Conclusion and Future Work 5.1 Concluding remarks 5.2 Future Work Appendix Appendix A.1 Matrix Projectors Appendix A.2 Loop Equations w.r.t frame G. Appendix A.3 Important Transformation Matrices Appendix A.4 Trajectory Planning of Swing Leg I. Straight-forward and Turning Motion II. Crab Motion Appendix A.5 Time calculations for gait planning I. Calculation of total time taken to complete n-duty cycles II. Calculation of end time for each of the duty cycles Appendix A.6 Kinematic Velocity and Acceleration Appendix A.7 Jacobian Matrices Appendix A.8 Parameters affecting the dynamics of the six-legged robot Appendix A.9 Kinematic constraints with respect to G0 Appendix A.10 Geometrical Interpretation of the interaction region Appendix A.11 Objective function and evaluation of the constraints References List of Publications made by the Scholar.
- (source: Nielsen Book Data)
- Publisher's summary
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.
(source: Nielsen Book Data)
- Publication date
- Cognitive Intelligence and Robotics
- 9789811529535 (electronic bk.)
- 9811529531 (electronic bk.)
- 9789811529528 (print)