Cantitate/Preț
Produs

A General Model of Legged Locomotion on Natural Terrain: The Springer International Series in Engineering and Computer Science, cartea 179

Autor David J. Manko
en Limba Engleză Paperback – 10 noi 2012
Dynamic modeling is the fundamental building block for mechanism analysis, design, control and performance evaluation. One class of mechanism, legged machines, have multiple closed-chains established through intermittent ground contacts. Further, walking on natural terrain introduces nonlinear system compliance in the forms of foot sinkage and slippage. Closed-chains constrain the possible motions of a mechanism while compliances affect the redistribution of forces throughout the system.
A General Model of Legged Locomotion on Natural Terrain develops a dynamic mechanism model that characterizes indeterminate interactions of a closed-chain robot with its environment. The approach is applicable to any closed-chain mechanism with sufficient contact compliance, although legged locomotion on natural terrain is chosen to illustrate the methodology. The modeling and solution procedures are general to all walking machine configurations, including bipeds, quadrupeds, beam-walkers and hopping machines.
This work develops a functional model of legged locomotion that incorporates, for the first time, non-conservative foot-soil interactions in a nonlinear dynamic formulation. The model was applied to a prototype walking machine, and simulations generated significant insights into walking machine performance on natural terrain. The simulations are original and essential contributions to the design, evaluation and control of these complex robot systems. While posed in the context of walking machines, the approach has wider applicability to rolling locomotors, cooperating manipulators, multi-fingered hands, and prehensile agents.
Citește tot Restrânge

Din seria The Springer International Series in Engineering and Computer Science

Preț: 33059 lei

Puncte Express: 496

Preț estimativ în valută:
6333 6876$ 5432£

Carte tipărită la comandă

Livrare economică 06-11 mai

Preluare comenzi: 021 569.72.76

Specificații

ISBN-13: 9781461365884
ISBN-10: 1461365880
Pagini: 132
Ilustrații: XII, 116 p.
Dimensiuni: 155 x 235 x 7 mm
Greutate: 0.2 kg
Ediția:Softcover reprint of the original 1st ed. 1992
Editura: Springer Us
Colecția Springer
Seria The Springer International Series in Engineering and Computer Science

Locul publicării:New York, NY, United States

Public țintă

Research

Descriere

Dynamic modeling is the fundamental building block for mechanism analysis, design, control and performance evaluation. One class of mechanism, legged machines, have multiple closed-chains established through intermittent ground contacts. Further, walking on natural terrain introduces nonlinear system compliance in the forms of foot sinkage and slippage. Closed-chains constrain the possible motions of a mechanism while compliances affect the redistribution of forces throughout the system.
A General Model of Legged Locomotion on Natural Terrain develops a dynamic mechanism model that characterizes indeterminate interactions of a closed-chain robot with its environment. The approach is applicable to any closed-chain mechanism with sufficient contact compliance, although legged locomotion on natural terrain is chosen to illustrate the methodology. The modeling and solution procedures are general to all walking machine configurations, including bipeds, quadrupeds, beam-walkers and hopping machines.
This work develops a functional model of legged locomotion that incorporates, for the first time, non-conservative foot-soil interactions in a nonlinear dynamic formulation. The model was applied to a prototype walking machine, and simulations generated significant insights into walking machine performance on natural terrain. The simulations are original and essential contributions to the design, evaluation and control of these complex robot systems. While posed in the context of walking machines, the approach has wider applicability to rolling locomotors, cooperating manipulators, multi-fingered hands, and prehensile agents.

Cuprins

List of Figures. List of Tables. 1. Introduction. 2. Background. 3. Legged Locomotion Model. 4. Solution Procedures. 5. Application to a Prototype Walking Machine. 6. Verification Studies. 7. Model Applications. 8. Summary. A. Vertical Foot-Soil Experiments. B. Perturbation Parameters. C. Inertial Properties for the AMBLER Massless Leg Model. Bibliography. Index.