Multi-body Dynamic Modeling of Multi-legged Robots

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.

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.