Multi-body Dynamic Modeling of Multi-legged Robots [electronic resource] /

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.