Book Details


Multi-body Dynamic Modeling of Multi-legged Robots

Publication year: 2020

ISBN: 978-981-15-2953-5

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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.

Subject: Computer Science, Multi-Legged Robots, Coupled Multi-Body Dynamics, Foot-Terrain Interaction, Energy Consumption, Dynamic Stability