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Multi-Body Dynamic Modeling of Multi-Legged Robots
Paperback
Series: Cognitive Intelligence and Robotics
Technology & EngineeringGeneral Computers
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ISBN10: 9811529558
ISBN13: 9789811529559
Publisher: Springer
Published: Feb 28 2021
Pages: 203
Weight: 0.74
Height: 0.50 Width: 6.14 Depth: 9.21
Language: English
ISBN13: 9789811529559
Publisher: Springer
Published: Feb 28 2021
Pages: 203
Weight: 0.74
Height: 0.50 Width: 6.14 Depth: 9.21
Language: English
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
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 terrain2.2.5.1 Motion planning for robot's body2.2.5.2 Swing leg trajectory planning2.2.5.3 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 3.1.3.1 Compliant contact-impact model 3.1.3.2 Interactive forces and moments 3.1.3.3 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 3.1.8.1. Statically-stable walking based on ESM, NESM 3.1.8.2. Dynamically stable walking based on DGSM 3.2 Numerical Illustrations 3.2.1 Study of optimal feet forces' distribution 3.2.1.1 Case Study 1: Robot motion in an uneven terrain with straight-forward motion (DF=1/2) 3.2.1.2 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 3.2.2.1 Effect of trunk body velocity on energy consumption and stability 3.2.2.2 Effect of stroke on energy consumption and stability 3.2.2.3 Effect of body height on energy consumption and stability 3.2.2.4 Effect of leg offset on energy consumption and stability 3.2.2.5 Effect of variable geometry of trunk body on energy consumption and stability 3.2.2.6 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 4.2.1.1 Case Study 1: Crab motion of the robot to avoid obstacle on a flat terrain 4.2.1.2 Case Study 2: Turning Motion of the robot on a banked surface
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 terrain2.2.5.1 Motion planning for robot's body2.2.5.2 Swing leg trajectory planning2.2.5.3 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 3.1.3.1 Compliant contact-impact model 3.1.3.2 Interactive forces and moments 3.1.3.3 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 3.1.8.1. Statically-stable walking based on ESM, NESM 3.1.8.2. Dynamically stable walking based on DGSM 3.2 Numerical Illustrations 3.2.1 Study of optimal feet forces' distribution 3.2.1.1 Case Study 1: Robot motion in an uneven terrain with straight-forward motion (DF=1/2) 3.2.1.2 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 3.2.2.1 Effect of trunk body velocity on energy consumption and stability 3.2.2.2 Effect of stroke on energy consumption and stability 3.2.2.3 Effect of body height on energy consumption and stability 3.2.2.4 Effect of leg offset on energy consumption and stability 3.2.2.5 Effect of variable geometry of trunk body on energy consumption and stability 3.2.2.6 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 4.2.1.1 Case Study 1: Crab motion of the robot to avoid obstacle on a flat terrain 4.2.1.2 Case Study 2: Turning Motion of the robot on a banked surface
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