Książki

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.

Multi-body Dynamic Modeling of Multi-legged Robots

Chapter 1 Introduction
1.1Introduction to Multi-legged robots1.2Gait Planning of six-legged robots1.3Literature Review of legged robot1.3.1Kinematics of legged robots1.3.2Dynamics of legged robots1.3.3Foot-ground contact modeling1.3.4Foot Force Distribution and power consumption1.3.5Stability of legged robots1.4Gaps in Literature1.5Aims and Objectives1.6Book Overview1.7Book's Contributions1.8Summary
Chapter 2 Kinematic Modeling and Analysis of Six-Legged Robots
2.1Description of the Problem2.1.1Description of Proposed Six-legged Walking Robot2.1.2Gait Terminologies and their Relationships2.1.3Steps involved in Proposed Methodology2.2Analytical Framework2.2.1Reference system in cartesian coordinates2.2.2Kinematic constraint equations2.2.3Inverse Kinematic Model of the six-legged robotic system2.2.4Terrain model2.2.5Locomotion planning on varying terrain2.2.5.1Motion planning for robot's body2.2.5.2Swing leg trajectory planning2.2.5.3Foot Slip During Support Phase2.2.6Gait planning strategy2.2.7Evaluation of kinematic parameters2.2.8Estimation of aggregate center of mass2.3Numerical Simulation: Study of kinematic motion parameters2.3.1Case Study 1: Robot motion in an uneven terrain with straight-forward motion (DF=1/2)2.3.2Case Study 2: Crab Motion of the robot on a banked terrain (DF=3/4)2.4Summary
Chapter 3 Multi-body Inverse Dynamic Modeling and Analysis of Six-Legged Robots
3.1Analytical Framework3.1.1Implicit Constrained Inverse Dynamic Model3.1.2Newtonian Mechanics with Explicit Constraints3.1.3Three Dimensional Contact Force Model3.1.3.1Compliant contact-impact model3.1.3.2Interactive forces and moments3.1.3.3Amonton-Coulomb's friction model3.1.4Static Equilibrium Moment Equation3.1.5Actuator torque limits3.1.6Optimal feet forces' distributions3.1.7Energy consumption of a six-legged robot3.1.8Stability measures of six-legged robots3.1.8.1.Statically-stable walking based on ESM, NESM3.1.8.2.Dynamically stable walking based on DGSM3.2Numerical Illustrations3.2.1Study of optimal feet forces' distribution3.2.1.1Case Study 1: Robot motion in an uneven terrain with straight-forward motion (DF=1/2)3.2.1.2Case Study 2: Crab Motion of the robot on a banked surface (DF=3/4)3.2.2Study of performance indices- power consumption and stability measure3.2.2.1Effect of trunk body velocity on energy consumption and stability3.2.2.2Effect of stroke on energy consumption and stability3.2.2.3Effect of body height on energy consumption and stability3.2.2.4Effect of leg offset on energy consumption and stability3.2.2.5Effect of variable geometry of trunk body on energy consumption and stability3.2.2.6Effect of crab angle on energy consumption and stability3.3Summary
Chapter 4 Validation using Virtual Prototyping tools and Experiments
4.1Modeling using Virtual prototyping tools4.2Numerical Simulation and Validation using VP Tools and Experiments4.2.1.Validation of Kinematic motion parameters4.2.1.1Case Study 1: Crab motion of the robot to avoid obstacle on a flat terrain4.2.1.2Case Study 2: Turning Motion of the robot on a banked surface4.2.1.3Case Study 3: Turning Motion of the robot in an uneven terrain4.2.2.Validation of Dynamic motion parameters4.2.2.1Case Study 1: Staircase climbing of the robot with straight-forward motion4.2.2.2Case Study 2: Experimentation with a Hex Crawler HDATS robot maneuvering on a concrete floor with straight-forward motion4.2.2.3Case Study 3: Experimentation with a Hex Crawler HDATS robot maneuvering on a concrete floor with Crab Motion motion (DF=1/2)4.3Summary
Chapter 5 Conclusion and Future Work
5.1Concluding remarks5.2Future Work
Appendix
Appendix A.1 Matrix ProjectorsAppendix A.2 Loop Equations w.r.t frame G.Appendix A.3 Important Transformation MatricesAppendix A.4 Trajectory Planning of Swing LegI.  Straight-forward and Turning MotionII. Crab MotionAppendix A.5 Time calculations for gait planningI. Calculation of total time taken to complete n-duty cyclesII. Calculation of end time for each of the duty cyclesAppendix A.6 Kinematic Velocity and AccelerationAppendix A.7 Jacobian MatricesAppendix A.8 Parameters affecting the dynamics of the six-legged robotAppendix A.9 Kinematic constraints with respect to G0Appendix A.10 Geometrical Interpretation of the interaction regionAppendix A.11 Objective function and evaluation of the constraintsReferencesList of Publications made by the Scholar