• Sign In / Register
  • Help
  • Basket0
A General Model of Legged Locomotion on Natural Terrain - The Springer International Series in Engineering and Computer Science 179 (Paperback)
  • A General Model of Legged Locomotion on Natural Terrain - The Springer International Series in Engineering and Computer Science 179 (Paperback)
zoom

A General Model of Legged Locomotion on Natural Terrain - The Springer International Series in Engineering and Computer Science 179 (Paperback)

(author)
£76.50
Paperback 116 Pages / Published: 10/11/2012
  • We can order this

Usually despatched within 3 weeks

  • This item has been added to your basket
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.

Publisher: Springer-Verlag New York Inc.
ISBN: 9781461365884
Number of pages: 116
Weight: 213 g
Dimensions: 235 x 155 x 7 mm
Edition: Softcover reprint of the original 1st ed. 199

You may also be interested in...

Arduino in Easy Steps
Added to basket
Encyclopedia of Electronic Components
Added to basket
Circuit Analysis for Dummies
Added to basket
Make: Analog Synthesizers
Added to basket
Electronic Circuits, 4th ed
Added to basket
Electronics For Dummies
Added to basket
The Lego Mindstorms Ev3 Discovery Book
Added to basket
Arduino Workshop
Added to basket
£24.99
Paperback
Exploring Arduino
Added to basket
£27.99
Paperback
The Oxford Solid State Basics
Added to basket
Arduino For Dummies
Added to basket
£16.99
Paperback
Cybernetics
Added to basket
£8.50
Paperback

Reviews

Please sign in to write a review

Your review has been submitted successfully.