Multi-Body Dynamic Modeling of Multi-Legged Robots
暫譯: 多腿機器人的多體動力學建模

Mahapatra, Abhijit, Roy, Shibendu Shekhar, Pratihar, Dilip Kumar

Multi-Body Dynamic Modeling of Multi-Legged Robots
  • 出版商: Springer
  • 出版日期: 2021-02-28
  • 售價: $4,470
  • 貴賓價: 9.5 折 $4,247
  • 語言: 英文
  • 頁數: 203
  • 裝訂: Quality Paper - also called trade paper
  • ISBN: 9811529558
  • ISBN-13: 9789811529559
  • 相關分類: 機器人製作 Robots

    • 海外代購書籍(需單獨結帳)

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商品描述

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.

The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton–Euler (NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body modelling and the concept that there is no change in the configuration of the system in the short time span of collisions.

商品描述(中文翻譯)

本書描述了一種整合方法的開發，用於生成現實六足機器人系統的行徑和步態。它詳細討論了在不同地形下的運動能力，包括直行、側行和轉向運動，這些地形包括傾斜表面、樓梯以及各種用戶定義的粗糙地形。書中還展示了使用虛擬原型（Virtual Prototyping, VP）工具進行的計算機模擬和驗證，以及實際實驗。

本書還探討了通過應用所開發的非線性約束逆動力學模型來改善解決方案，該模型被構建為基於牛頓-歐拉（Newton–Euler, NE）方法的耦合動力學問題，並考慮到現實的環境條件。該方法是基於剛性多體建模的概念，並假設在碰撞的短時間內系統的配置不會改變。

作者簡介

Dr. Abhijit Mahapatra received B.E. and M.Tech. degrees in Mechanical Engineering from B.E. College (now, BESU), Shibpur, India, and NIT Durgapur, India, in 2002 and 2008, respectively. He received his Ph.D. from NIT Durgapur, India, in 2018. He is currently working as a Senior Scientist in the Advanced Design and Analysis Group at CSIR- Central Mechanical Engineering Research Institute, Durgapur, India.
Dr. Mahapatra has published a number of research papers in national and international journals and conference proceedings and filed several patents in the area of product development. His current research interests include design & analysis, multi-body dynamics, and modelling and simulating legged robots.

Dr. Shibendu Shekhar Roy received B.E. and M.Tech. degrees in Mechanical Engineering from NIT, Durgapur. He also holds a Ph.D. from IIT, Kharagpur, India. He is currently working as a Professor at the Department of Mechanical Engineering and Associate Dean (Alumni Affairs & Outreach) at the National Institute of Technology, Durgapur.
Dr. Roy has published more than 68 papers in national and international journals and conference proceedings, as well as 4 book chapters, and has filed a number of patents in the area of product development. His current research interests include modelling and simulating legged robots, soft robotics, rehabilitation robotics, additive manufacturing and 3D printing on macro- and micro-scales.

Dr. Dilip Kumar Pratihar completed his B.E. and M. Tech. in Mechanical Engineering at NIT, Durgapur, India, in 1988 and 1995, respectively. He received his Ph.D. from IIT Kanpur in 2000. Dr. Pratihar pursued postdoctoral studies in Japan and then in Germany under the Alexander von Humboldt Fellowship Program. He is currently working as a Professor at IIT Kharagpur, India. His research areas include robotics, soft computing and manufacturing science.
He has made significant contributions in the development of intelligent autonomous systems in various fields, including robotics, and manufacturing science. He has published more than 230 papers, mostly in international journals, and is on the editorial board of 12 international journals. He is a member of the FIE, MASME and SMIEEE. He has completed a number of sponsored (funded by DST, DAE, MHRD, DBT) and consultancy projects and is a member of Expert Committee of Advanced Manufacturing Technology, DST, Government of India.

作者簡介(中文翻譯)

阿比吉特·馬哈帕特拉博士於2002年和2008年分別在印度西孟加拉邦的B.E.學院（現為BESU）和NIT杜爾卡普爾獲得機械工程的學士和碩士學位。他於2018年在NIT杜爾卡普爾獲得博士學位。目前，他在印度杜爾卡普爾的CSIR-中央機械工程研究所的先進設計與分析組擔任高級科學家。

馬哈帕特拉博士在國內外期刊和會議論文集中發表了多篇研究論文，並在產品開發領域申請了多項專利。他目前的研究興趣包括設計與分析、多體動力學以及腿部機器人的建模與模擬。

希本杜·謝卡爾·羅伊博士在NIT杜爾卡普爾獲得機械工程的學士和碩士學位。他還擁有印度IIT卡哈拉古爾的博士學位。目前，他在國立技術學院杜爾卡普爾的機械工程系擔任教授及副院長（校友事務與外聯）。

羅伊博士在國內外期刊和會議論文集中發表了超過68篇論文，並撰寫了4章書籍，還在產品開發領域申請了多項專利。他目前的研究興趣包括腿部機器人的建模與模擬、軟體機器人、康復機器人、增材製造以及宏觀和微觀尺度的3D列印。

迪利普·庫馬爾·普拉提哈博士於1988年和1995年在印度NIT杜爾卡普爾完成機械工程的學士和碩士學位。他於2000年在IIT坎普爾獲得博士學位。普拉提哈博士曾在日本和德國進行博士後研究，並參加亞歷山大·馮·洪堡獎學金計畫。目前，他在印度IIT卡哈拉古爾擔任教授。他的研究領域包括機器人、軟計算和製造科學。

他在智能自主系統的發展方面做出了重要貢獻，涵蓋機器人和製造科學等多個領域。他已發表超過230篇論文，大多數在國際期刊上，並擔任12本國際期刊的編輯委員會成員。他是FIE、MASME和SMIEEE的成員。他已完成多個贊助（由DST、DAE、MHRD、DBT資助）和顧問項目，並是印度政府DST高級製造技術專家委員會的成員。

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