Modeling and analysis of six-legged robots: Analytical and soft computing-based methods

Roy, Shibendu Shekhar, Pratihar, Dilip Kumar

ISBN 10: 3848449773 / ISBN 13: 9783848449774

Published by LAP LAMBERT Academic Publishing, 2012

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Bibliographic Details

• Title: Modeling and analysis of six-legged robots: Analytical and soft computing-based methods
• Publisher: LAP LAMBERT Academic Publishing
• Publication Date: 2012
• Language: English
• ISBN 10: 3848449773
• ISBN 13: 9783848449774
• Binding: Paperback
• Condition: Like New
• Book Type: book

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Synopsis

Over the last four decades, the legged robots had been widely investigated due to their better mobility and terrain adaptability characteristics, while moving on natural terrains. Kinematics, dynamics, stability and energy consumption analysis of different types of gaits are the key elements of study in the field of multi-legged robots’ locomotion. In the present book, a systematic analytical model has been developed to study the kinematics and dynamics along with energy efficiency and stability of a realistic six-legged robot, negotiating straight-forward, crab and turning motions. Moreover, soft computing-based models, namely back-propagation algorithm-tuned multiple adaptive neuro-fuzzy inference systems; genetic algorithm-tuned multiple adaptive neuro-fuzzy inference systems; genetic algorithm-tuned coactive neuro-fuzzy inference systems and genetic algorithm-tuned back-propagation neural networks, have been developed to predict specific energy consumption and normalized energy stability margin in straight, crab and turning motions of the said robot. This book could be useful to researchers and technologists working in the field of mobile robots.

About the Author

Dr. Shibendu Shekhar Roy, Assistant Professor, Dept. of Mechanical Engineering, National Institute of Technology, Durgapur, India. Dr. Dilip Kumar Pratihar, Professor, Indian Institute of Technology, Kharagpur, India. He completed his post-doctoral studies in Germany under the AvH Fellowship Programme. Research areas: Robotics and Soft Computing.