A General Model of Legged Locomotion on Natural Terrain:
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 syste...
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Boston, MA
Springer US
1992
|
| Schriftenreihe: | The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors
179 |
| Schlagworte: | |
| Online-Zugang: | BTU01 Volltext |
| Zusammenfassung: | 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 |
| Beschreibung: | 1 Online-Ressource (XII, 116 p) |
| ISBN: | 9781461535744 |
| DOI: | 10.1007/978-1-4615-3574-4 |
Internformat
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| 520 | |a 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 | ||
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Datensatz im Suchindex
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| author | Manko, David J. |
| author_facet | Manko, David J. |
| author_role | aut |
| author_sort | Manko, David J. |
| author_variant | d j m dj djm |
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| bvnumber | BV045187463 |
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| dewey-full | 629.8 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
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| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/978-1-4615-3574-4 |
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| id | DE-604.BV045187463 |
| illustrated | Not Illustrated |
| indexdate | 2024-07-10T08:10:59Z |
| institution | BVB |
| isbn | 9781461535744 |
| language | English |
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| publishDate | 1992 |
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| publisher | Springer US |
| record_format | marc |
| series2 | The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors |
| spelling | Manko, David J. Verfasser aut A General Model of Legged Locomotion on Natural Terrain by David J. Manko Boston, MA Springer US 1992 1 Online-Ressource (XII, 116 p) txt rdacontent c rdamedia cr rdacarrier The Springer International Series in Engineering and Computer Science, Robotics: Vision, Manipulation and Sensors 179 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 Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Electrical Engineering Artificial intelligence Control engineering Robotics Mechatronics Electrical engineering Roboter (DE-588)4050208-9 gnd rswk-swf Erdoberfläche (DE-588)4113458-8 gnd rswk-swf Bewegung (DE-588)4006311-2 gnd rswk-swf Roboter (DE-588)4050208-9 s Bewegung (DE-588)4006311-2 s Erdoberfläche (DE-588)4113458-8 s 1\p DE-604 Erscheint auch als Druck-Ausgabe 9781461365884 https://doi.org/10.1007/978-1-4615-3574-4 Verlag URL des Erstveröffentlichers Volltext 1\p cgwrk 20201028 DE-101 https://d-nb.info/provenance/plan#cgwrk |
| spellingShingle | Manko, David J. A General Model of Legged Locomotion on Natural Terrain Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Electrical Engineering Artificial intelligence Control engineering Robotics Mechatronics Electrical engineering Roboter (DE-588)4050208-9 gnd Erdoberfläche (DE-588)4113458-8 gnd Bewegung (DE-588)4006311-2 gnd |
| subject_GND | (DE-588)4050208-9 (DE-588)4113458-8 (DE-588)4006311-2 |
| title | A General Model of Legged Locomotion on Natural Terrain |
| title_auth | A General Model of Legged Locomotion on Natural Terrain |
| title_exact_search | A General Model of Legged Locomotion on Natural Terrain |
| title_full | A General Model of Legged Locomotion on Natural Terrain by David J. Manko |
| title_fullStr | A General Model of Legged Locomotion on Natural Terrain by David J. Manko |
| title_full_unstemmed | A General Model of Legged Locomotion on Natural Terrain by David J. Manko |
| title_short | A General Model of Legged Locomotion on Natural Terrain |
| title_sort | a general model of legged locomotion on natural terrain |
| topic | Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Electrical Engineering Artificial intelligence Control engineering Robotics Mechatronics Electrical engineering Roboter (DE-588)4050208-9 gnd Erdoberfläche (DE-588)4113458-8 gnd Bewegung (DE-588)4006311-2 gnd |
| topic_facet | Engineering Control, Robotics, Mechatronics Artificial Intelligence (incl. Robotics) Electrical Engineering Artificial intelligence Control engineering Robotics Mechatronics Electrical engineering Roboter Erdoberfläche Bewegung |
| url | https://doi.org/10.1007/978-1-4615-3574-4 |
| work_keys_str_mv | AT mankodavidj ageneralmodelofleggedlocomotiononnaturalterrain |