A General Model Of Legged Locomotion On Natural Terrain
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A General Model Of Legged Locomotion On Natural Terrain
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Author : David J. Manko
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
A General Model Of Legged Locomotion On Natural Terrain written by David J. Manko and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
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.
Quadrupedal Locomotion
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Author : Pablo González de Santos
language : en
Publisher: Springer Science & Business Media
Release Date : 2007-02-17
Quadrupedal Locomotion written by Pablo González de Santos and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2007-02-17 with Technology & Engineering categories.
Walking machines have advantages over traditional vehicles, and have already accomplished tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. This book brings together methods and techniques that have been developed to deal with obstacles to wider acceptance of legged robots. Part I provides an historical overview. Part II concentrates on control techniques, as applied to Four-legged robots.
Climbing And Walking Robots And The Support Technologies For Mobile Machines
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Author : Phillippe Bidaud
language : en
Publisher: John Wiley & Sons
Release Date : 2002-11-08
Climbing And Walking Robots And The Support Technologies For Mobile Machines written by Phillippe Bidaud and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2002-11-08 with Technology & Engineering categories.
Robotic technology advances for a wide variety of applications Climbing and Walking Robots and the Support Technologies for Mobile Machines explores the increasing interest in real-world robotics and the surge in research and invention it has inspired. Featuring the latest advances from leading robotics labs around the globe, this book presents solutions for perennial challenges in robotics and suggests directions for future research. With applications ranging from personal services and entertainment to emergency rescue and extreme environment intervention, the groundbreaking work presented here provides a glimpse of the future.
Romansy 13
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Author : Adam Morecki
language : en
Publisher: Springer
Release Date : 2014-05-04
Romansy 13 written by Adam Morecki and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-05-04 with Science categories.
Characterisation: this volume presents the latest contribution to the theory and practice of modern robotics given by the world recognised scientists from Australia, Canada, Europe, Japan and USA.
Walking Biological And Technological Aspects
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Author : Friedrich Pfeiffer
language : en
Publisher: Springer
Release Date : 2014-05-04
Walking Biological And Technological Aspects written by Friedrich Pfeiffer and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014-05-04 with Technology & Engineering categories.
The book describes the results of research into the living world, which were conducted in such a way as to provide inspiration to engineering design of walking machines. The biological topics are presented in a form that is intelligible to engineers and can be applied in the design of mechanical devices. The text also introduces the design problems that are encountered during prototyping of specific robots. This information provides insight to biologists interested in basic physical properties of locomotion.
Icom 2003 International Conference On Mechatronics
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Author : R. M. Parkin
language : en
Publisher: John Wiley & Sons
Release Date : 2003-08-01
Icom 2003 International Conference On Mechatronics written by R. M. Parkin and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-08-01 with Technology & Engineering categories.
This volume represents the proceedings of a prestigious international conference organized by Loughborough University which will be of interest to all those involved in this rapidly advancing field, proving to be a vital read for all who wish to be well informed of developments and advances. Also included is a CD-ROM containing all the papers that were presented at the conference. The CD-ROM has been created using Adobe Acrobat Reader 5.0 with Search. Acrobat Reader is a unique software application that allows the user the opportunity to view, search, download, and print information electronically generated and produced in PDF format. It has extensive search facilities by author, subject, key-words, etc. Topics covered include: Fundamental Enabling Technologies Automatic Control of Mechatronic Systems Mechatronic Components Robotics and Automation Mobile robots Integrated Mechatronic Systems Biomedical Applications Mechatronics Education
Computational Principles Of Mobile Robotics
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Author : Gregory Dudek
language : en
Publisher: Cambridge University Press
Release Date : 2024-01-31
Computational Principles Of Mobile Robotics written by Gregory Dudek and has been published by Cambridge University Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2024-01-31 with Computers categories.
Now in its third edition, this textbook is a comprehensive introduction to the multidisciplinary field of mobile robotics, which lies at the intersection of artificial intelligence, computational vision, and traditional robotics. Written for advanced undergraduates and graduate students in computer science and engineering, the book covers algorithms for a range of strategies for locomotion, sensing, and reasoning. The new edition includes recent advances in robotics and intelligent machines, including coverage of human-robot interaction, robot ethics, and the application of advanced AI techniques to end-to-end robot control and specific computational tasks. This book also provides support for a number of algorithms using ROS 2, and includes a review of critical mathematical material and an extensive list of sample problems. Researchers as well as students in the field of mobile robotics will appreciate this comprehensive treatment of state-of-the-art methods and key technologies.
Technology Drivers Engine For Growth
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Author : Alka Mahajan
language : en
Publisher: CRC Press
Release Date : 2018-10-17
Technology Drivers Engine For Growth written by Alka Mahajan and has been published by CRC Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-10-17 with Technology & Engineering categories.
This volume of proceedings from the conference provides an opportunity for readers to engage with a selection of refereed papers that were presented during the 6th International Conference NUiCONE’17. Researchers from industry and academia were invited to present their research work in the areas as listed below. The research papers presented in these tracks have been published in this proceeding with the support of CRC Press, Taylor & Francis Group. This proceeding will definitely provide a platform to proliferate new findings among the researchers. Chemical Process Development and Design Technologies for Green Environment Advances in Transportation Engineering Emerging Trends in Water Resources and Environmental Engineering Construction Technology and Management Concrete and Structural Engineering Sustainable Manufacturing Processes Design and Analysis of Machine and Mechanism Energy Conservation and Management
Climbing And Walking Robots And The Supporting Technologies For Mobile Machines
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Author : G. Muscato
language : en
Publisher: John Wiley & Sons
Release Date : 2003-11-07
Climbing And Walking Robots And The Supporting Technologies For Mobile Machines written by G. Muscato and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2003-11-07 with Technology & Engineering categories.
Bringing together academics, researchers, and industrialists, Climbing and Walking Robots 2003 (CLAWAR 2003) provides a forum for cross-fertilization in the different specialities so that both state-of-the-art and industrial applications can be reported on. Original contributions, both industrial and those in new/emerging fields, provide a full picture of climbing and walking robots. The interest in climbing and walking robots (CLAWAR) has increased considerably over recent years, addressing many application fields such as exploration/intervention in extreme environments, personal services, emergency rescue operations, transportation, entertainment, etc., and envisage humanoid robots evolving into mechatronic replicas of ourselves. Topics covered include: Biological Inspired Systems Medical Systems Control of CLAWAR Design Methodology System Modelling and Simulation Modularity and System Architecture Gait Generation and Stability of CLAWAR Biped Locomotion Multi-legged Locomotion Micro Machines Applications Climbing Robots Actuators, Sensors, Navigation, and Sensors Fusion CLAWAR Network Workpackages
Cats Paws And Catapults Mechanical Worlds Of Nature And People
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Author : Steven Vogel
language : en
Publisher: W. W. Norton & Company
Release Date : 2000-01-17
Cats Paws And Catapults Mechanical Worlds Of Nature And People written by Steven Vogel and has been published by W. W. Norton & Company this book supported file pdf, txt, epub, kindle and other format this book has been release on 2000-01-17 with Science categories.
"Full of ideas and well-explained principles that will bring new understanding of everyday things to both scientists and non-scientists alike."—R. McNeill Alexander, Nature Nature and humans build their devices with the same earthly materials and use them in the same air and water, pulled by the same gravity. Why, then, do their designs diverge so sharply? Humans, for instance, love right angles, while nature's angles are rarely right and usually rounded. Our technology goes around on wheels—and on rotating pulleys, gears, shafts, and cams—yet in nature only the tiny propellers of bacteria spin as true wheels. Our hinges turn because hard parts slide around each other, whereas nature's hinges (a rabbit's ear, for example) more often swing by bending flexible materials. In this marvelously surprising, witty book, Steven Vogel compares these two mechanical worlds, introduces the reader to his field of biomechanics, and explains how the nexus of physical law, size, and convenience of construction determine the designs of both people and nature. "This elegant comparison of human and biological technology will forever change the way you look at each."—Michael LaBarbera, American Scientist