A General Model Of Legged Locomotion On Natural Terrain

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A General Model of Legged Locomotion on Natural Terrain

Author : David J. Manko
Publisher : Springer
ISBN 13 : 9781461365884
Total Pages : 116 pages
Book Rating : 4.3/5 (658 download)

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Book Synopsis A General Model of Legged Locomotion on Natural Terrain by : David J. Manko

Download or read book A General Model of Legged Locomotion on Natural Terrain written by David J. Manko and published by Springer. This book was released on 2012-11-10 with total page 116 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

A General Model of Legged Locomotion on Natural Terrain

Author : David J. Manko
Publisher : Springer Science & Business Media
ISBN 13 : 1461535743
Total Pages : 121 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis A General Model of Legged Locomotion on Natural Terrain by : David J. Manko

Download or read book A General Model of Legged Locomotion on Natural Terrain written by David J. Manko and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 121 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

A general model of legged locomotion on natural terrain

Author : David John Manko
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (144 download)

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Book Synopsis A general model of legged locomotion on natural terrain by : David John Manko

Download or read book A general model of legged locomotion on natural terrain written by David John Manko and published by . This book was released on 1990 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Quadrupedal Locomotion

Author : Pablo González de Santos
Publisher : Springer Science & Business Media
ISBN 13 : 1846283078
Total Pages : 272 pages
Book Rating : 4.8/5 (462 download)

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Book Synopsis Quadrupedal Locomotion by : Pablo González de Santos

Download or read book Quadrupedal Locomotion written by Pablo González de Santos and published by Springer Science & Business Media. This book was released on 2007-02-17 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Author : Karsten Berns
Publisher : John Wiley & Sons
ISBN 13 : 9781860583650
Total Pages : 1082 pages
Book Rating : 4.5/5 (836 download)

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Book Synopsis Climbing and Walking Robots by : Karsten Berns

Download or read book Climbing and Walking Robots written by Karsten Berns and published by John Wiley & Sons. This book was released on 2001-11-28 with total page 1082 pages. Available in PDF, EPUB and Kindle. Book excerpt: Recent advances in robot technology from around the world Climbing and Walking Robots: From Biology to Industrial Applications is a collection of papers presented at the 2001 CLAWAR conference. Featuring current work from leading robotics labs around the globe, this book presents the latest in robotics across industries and suggests directions for future research. Topics include design methodology, bipedal locomotion, fluid actuators, sensor systems, control architecture and simulation, and more. Relevant to mechanical engineers and robotics specialists in both industry and academia, these papers showcase the field's latest technological advances.

Climbing and Walking Robots and the Support Technologies for Mobile Machines

Author : Phillippe Bidaud
Publisher : John Wiley & Sons
ISBN 13 : 9781860583803
Total Pages : 1080 pages
Book Rating : 4.5/5 (838 download)

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Book Synopsis Climbing and Walking Robots and the Support Technologies for Mobile Machines by : Phillippe Bidaud

Download or read book Climbing and Walking Robots and the Support Technologies for Mobile Machines written by Phillippe Bidaud and published by John Wiley & Sons. This book was released on 2002-11-08 with total page 1080 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Author : Adam Morecki
Publisher : Springer
ISBN 13 : 3709124980
Total Pages : 484 pages
Book Rating : 4.7/5 (91 download)

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Book Synopsis Romansy 13 by : Adam Morecki

Download or read book Romansy 13 written by Adam Morecki and published by Springer. This book was released on 2014-05-04 with total page 484 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Author : Friedrich Pfeiffer
Publisher : Springer
ISBN 13 : 3709127726
Total Pages : 194 pages
Book Rating : 4.7/5 (91 download)

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Book Synopsis Walking: Biological and Technological Aspects by : Friedrich Pfeiffer

Download or read book Walking: Biological and Technological Aspects written by Friedrich Pfeiffer and published by Springer. This book was released on 2014-05-04 with total page 194 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Author : R. M. Parkin
Publisher : John Wiley & Sons
ISBN 13 : 9781860584206
Total Pages : 696 pages
Book Rating : 4.5/5 (842 download)

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Book Synopsis ICOM 2003 - International Conference on Mechatronics by : R. M. Parkin

Download or read book ICOM 2003 - International Conference on Mechatronics written by R. M. Parkin and published by John Wiley & Sons. This book was released on 2003-08-01 with total page 696 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Author : Gregory Dudek
Publisher : Cambridge University Press
ISBN 13 : 1108597874
Total Pages : 450 pages
Book Rating : 4.1/5 (85 download)

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Book Synopsis Computational Principles of Mobile Robotics by : Gregory Dudek

Download or read book Computational Principles of Mobile Robotics written by Gregory Dudek and published by Cambridge University Press. This book was released on 2024-01-31 with total page 450 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Author : Alka Mahajan
Publisher : CRC Press
ISBN 13 : 1351360655
Total Pages : 315 pages
Book Rating : 4.3/5 (513 download)

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Book Synopsis Technology Drivers: Engine for Growth by : Alka Mahajan

Download or read book Technology Drivers: Engine for Growth written by Alka Mahajan and published by CRC Press. This book was released on 2018-10-17 with total page 315 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Author : G. Muscato
Publisher : John Wiley & Sons
ISBN 13 : 9781860584091
Total Pages : 1114 pages
Book Rating : 4.5/5 (84 download)

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Book Synopsis Climbing and Walking Robots and the Supporting Technologies for Mobile Machines by : G. Muscato

Download or read book Climbing and Walking Robots and the Supporting Technologies for Mobile Machines written by G. Muscato and published by John Wiley & Sons. This book was released on 2003-11-07 with total page 1114 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Author : Steven Vogel
Publisher : W. W. Norton & Company
ISBN 13 : 0393352951
Total Pages : 388 pages
Book Rating : 4.3/5 (933 download)

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Book Synopsis Cats' Paws and Catapults: Mechanical Worlds of Nature and People by : Steven Vogel

Download or read book Cats' Paws and Catapults: Mechanical Worlds of Nature and People written by Steven Vogel and published by W. W. Norton & Company. This book was released on 2000-01-17 with total page 388 pages. Available in PDF, EPUB and Kindle. Book excerpt: "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

Nonholonomic Motion Planning

Author : Zexiang Li
Publisher : Springer Science & Business Media
ISBN 13 : 1461531764
Total Pages : 455 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Nonholonomic Motion Planning by : Zexiang Li

Download or read book Nonholonomic Motion Planning written by Zexiang Li and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 455 pages. Available in PDF, EPUB and Kindle. Book excerpt: Nonholonomic Motion Planning grew out of the workshop that took place at the 1991 IEEE International Conference on Robotics and Automation. It consists of contributed chapters representing new developments in this area. Contributors to the book include robotics engineers, nonlinear control experts, differential geometers and applied mathematicians. Nonholonomic Motion Planning is arranged into three chapter groups: Controllability: one of the key mathematical tools needed to study nonholonomic motion. Motion Planning for Mobile Robots: in this section the papers are focused on problems with nonholonomic velocity constraints as well as constraints on the generalized coordinates. Falling Cats, Space Robots and Gauge Theory: there are numerous connections to be made between symplectic geometry techniques for the study of holonomies in mechanics, gauge theory and control. In this section these connections are discussed using the backdrop of examples drawn from space robots and falling cats reorienting themselves. Nonholonomic Motion Planning can be used either as a reference for researchers working in the areas of robotics, nonlinear control and differential geometry, or as a textbook for a graduate level robotics or nonlinear control course.

Qualitative Motion Understanding

Author : Wilhelm Burger
Publisher : Springer Science & Business Media
ISBN 13 : 1461535662
Total Pages : 220 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Qualitative Motion Understanding by : Wilhelm Burger

Download or read book Qualitative Motion Understanding written by Wilhelm Burger and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Mobile robots operating in real-world, outdoor scenarios depend on dynamic scene understanding for detecting and avoiding obstacles, recognizing landmarks, acquiring models, and for detecting and tracking moving objects. Motion understanding has been an active research effort for more than a decade, searching for solutions to some of these problems; however, it still remains one of the more difficult and challenging areas of computer vision research. Qualitative Motion Understanding describes a qualitative approach to dynamic scene and motion analysis, called DRIVE (Dynamic Reasoning from Integrated Visual Evidence). The DRIVE system addresses the problems of (a) estimating the robot's egomotion, (b) reconstructing the observed 3-D scene structure; and (c) evaluating the motion of individual objects from a sequence of monocular images. The approach is based on the FOE (focus of expansion) concept, but it takes a somewhat unconventional route. The DRIVE system uses a qualitative scene model and a fuzzy focus of expansion to estimate robot motion from visual cues, to detect and track moving objects, and to construct and maintain a global dynamic reference model.

Space Robotics: Dynamics and Control

Author : Yangsheng Xu
Publisher : Springer Science & Business Media
ISBN 13 : 1461535883
Total Pages : 291 pages
Book Rating : 4.4/5 (615 download)

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Book Synopsis Space Robotics: Dynamics and Control by : Yangsheng Xu

Download or read book Space Robotics: Dynamics and Control written by Yangsheng Xu and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 291 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotic technology offers two potential benefits for future space exploration. One benefit is minimizing the risk that astronauts face. The other benefit is increasing their productivity. Realizing the benefits of robotic technology in space will require solving several problems which are unique and now becoming active research topics. One of the most important research areas is dynamics, control, motion and planning for space robots by considering the dynamic interaction between the robot and the base (space station, space shuttle, or satellite). Any inefficiency in the planning and control can considerably risk by success of the space mission. Space Robotics: Dynamics and Control presents a collection of papers concerning fundamental problems in dynamics and control of space robots, focussing on issues relevant to dynamic base/robot interaction. The authors are all pioneers in theoretical analysis and experimental systems development of space robot technology. The chapters are organized within three problem areas: dynamics problems, nonholonomic nature problems, and control problems. This collection provides a solid reference for researchers in robotics, mechanics, control, and astronautical science.

The Electrical Engineering Handbook - Six Volume Set

Author : Richard C. Dorf
Publisher : CRC Press
ISBN 13 : 1420049755
Total Pages : 3672 pages
Book Rating : 4.4/5 (2 download)

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Book Synopsis The Electrical Engineering Handbook - Six Volume Set by : Richard C. Dorf

Download or read book The Electrical Engineering Handbook - Six Volume Set written by Richard C. Dorf and published by CRC Press. This book was released on 2018-12-14 with total page 3672 pages. Available in PDF, EPUB and Kindle. Book excerpt: In two editions spanning more than a decade, The Electrical Engineering Handbook stands as the definitive reference to the multidisciplinary field of electrical engineering. Our knowledge continues to grow, and so does the Handbook. For the third edition, it has grown into a set of six books carefully focused on specialized areas or fields of study. Each one represents a concise yet definitive collection of key concepts, models, and equations in its respective domain, thoughtfully gathered for convenient access. Combined, they constitute the most comprehensive, authoritative resource available. Circuits, Signals, and Speech and Image Processing presents all of the basic information related to electric circuits and components, analysis of circuits, the use of the Laplace transform, as well as signal, speech, and image processing using filters and algorithms. It also examines emerging areas such as text to speech synthesis, real-time processing, and embedded signal processing. Electronics, Power Electronics, Optoelectronics, Microwaves, Electromagnetics, and Radar delves into the fields of electronics, integrated circuits, power electronics, optoelectronics, electromagnetics, light waves, and radar, supplying all of the basic information required for a deep understanding of each area. It also devotes a section to electrical effects and devices and explores the emerging fields of microlithography and power electronics. Sensors, Nanoscience, Biomedical Engineering, and Instruments provides thorough coverage of sensors, materials and nanoscience, instruments and measurements, and biomedical systems and devices, including all of the basic information required to thoroughly understand each area. It explores the emerging fields of sensors, nanotechnologies, and biological effects. Broadcasting and Optical Communication Technology explores communications, information theory, and devices, covering all of the basic information needed for a thorough understanding of these areas. It also examines the emerging areas of adaptive estimation and optical communication. Computers, Software Engineering, and Digital Devices examines digital and logical devices, displays, testing, software, and computers, presenting the fundamental concepts needed to ensure a thorough understanding of each field. It treats the emerging fields of programmable logic, hardware description languages, and parallel computing in detail. Systems, Controls, Embedded Systems, Energy, and Machines explores in detail the fields of energy devices, machines, and systems as well as control systems. It provides all of the fundamental concepts needed for thorough, in-depth understanding of each area and devotes special attention to the emerging area of embedded systems. Encompassing the work of the world's foremost experts in their respective specialties, The Electrical Engineering Handbook, Third Edition remains the most convenient, reliable source of information available. This edition features the latest developments, the broadest scope of coverage, and new material on nanotechnologies, fuel cells, embedded systems, and biometrics. The engineering community has relied on the Handbook for more than twelve years, and it will continue to be a platform to launch the next wave of advancements. The Handbook's latest incarnation features a protective slipcase, which helps you stay organized without overwhelming your bookshelf. It is an attractive addition to any collection, and will help keep each volume of the Handbook as fresh as your latest research.