Synopsis
Chapter 1 Introduction
1.1 Introduction to Multi-legged robots
1.2 Gait Planning of six-legged robots
1.3 Literature Review of legged robot
1.3.1 Kinematics of legged robots
1.3.2 Dynamics of legged robots1.3.3 Foot-ground contact modeling
1.3.4 Foot Force Distribution and power consumption
1.3.5 Stability of legged robots
1.4 Gaps in Literature
1.5 Aims and Objectives
1.6 Book Overview
1.7 Book's Contributions
1.8 Summary
Chapter 2 Kinematic Modeling and Analysis of Six-Legged Robots
2.1 Description of the Problem
2.1.1 Description of Proposed Six-legged Walking Robot
2.1.2 Gait Terminologies and their Relationships
2.1.3 Steps involved in Proposed Methodology
2.2 Analytical Framework
2.2.1 Reference system in cartesian coordinates
2.2.2 Kinematic constraint equations
2.2.3 Inverse Kinematic Model of the six-legged robotic system
2.2.4 Terrain model
2.2.5 Locomotion planning on varying terrain
2.2.5.1 Motion planning for robot's body
2.2.5.2 Swing leg trajectory planning2.2.5.3 Foot Slip During Support Phase
2.2.6 Gait planning strategy
2.2.7 Evaluation of kinematic parameters
2.2.8 Estimation of aggregate center of mass
2.3 Numerical Simulation: Study of kinematic motion parameters
2.3.1 Case Study 1: Robot motion in an uneven terrain with straight-forward motion (DF=1/2)
2.3.2 Case Study 2: Crab Motion of the robot on a banked terrain (DF=3/4)
2.4 Summary
Chapter 3 Multi-body Inverse Dynamic Modeling and Analysis of Six-Legged Robots
3.1 Analytical Framework
3.1.1 Implicit Constrained Inverse Dynamic Model
3.1.2 Newtonian Mechanics with Explicit Constraints
3.1.3 Three Dimensional Contact Force Model
3.1.3.1 Compliant contact-impact model 3.1.3.2 Interactive forces and moments
3.1.3.3 Amonton-Coulomb's friction model
3.1.4 Static Equilibrium Moment Equation
3.1.5 Actuator torque limits
3.1.6 Optimal feet forces' distributions
3.1.7 Energy consumption of a six-legged robot
3.1.8 Stability measures of six-legged robots
3.1.8.1. Statically-stable walking based on ESM, NESM
3.1.8.2. Dynamically stable walking based on DGSM
3.2 Numerical Illustrations
3.2.1 Study of optimal feet forces' distribution
3.2.1.1 Case Study 1: Robot motion in an uneven terrain with straight-forward motion (DF=1/2)
3.2.1.2 Case Study 2: Crab Motion of the robot on a banked surface (DF=3/4) 3.2.2 Study of performance indices- power consumption and stability measure
3.2.2.1 Effect of trunk body velocity on energy consumption and stability
3.2.2.2 Effect of stroke on energy consumption and stability
3.2.2.3 Effect of body height on energy consumption and stability
3.2.2.4 Effect of leg offset on energy consumption and stability
3.2.2.5 Effect of variable geometry of trunk body on energy consumption and stability
3.2.2.6 Effect of crab angle on energy consumption and stability
3.3 Summary
Chapter 4 Validation using Virtual Prototyping tools and Experiments
4.1 Modeling using Virtual prototyping tools
4.2 Numerical Simulation and Validation using VP Tools and Experiments
4.2.1. Validation of Kinematic motion parameters
4.2.1.1 Case Study 1: Crab motion of the robot to avoid obstacle on a flat terrain
4.2.1.2 Case Study 2: Turning Motion of the robot on a banked surface <
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