Mahapatra / Roy / Pratihar Multi-body Dynamic Modeling of Multi-legged Robots

1. Auflage 2020
ISBN: 978-981-15-2953-5
Verlag: Springer Nature Singapore
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 230 Seiten

Reihe: Cognitive Intelligence and Robotics

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.

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.

Autoren/Hrsg.

Mahapatra, Abhijit

Roy, Shibendu Shekhar

Pratihar, Dilip Kumar

Inhaltsverzeichnis

1;Preface;7
2;Acknowledgements;8
3;Contents;9
4;About the Authors;11
5;Nomenclature;13
6;List of Figures;21
7;List of Tables;29
8;1 Introduction;30
8.1;1.1 Introduction to Multi-legged Robots;30
8.2;1.2 Legged Robot’s Locomotion;31
8.2.1;1.2.1 Leg Mechanisms and Comparisons: Multi-legged Robots;33
8.2.2;1.2.2 Advantages of Multi-legged Robots;34
8.2.3;1.2.3 Disadvantages of Multi-legged Robots;35
8.2.4;1.2.4 Applications of Multi-legged Robots;35
8.3;1.3 VP Tools for Modeling and Analysis of Multi-legged Robots;36
8.4;1.4 Summary;37
8.5;References;37
9;2 Multi-Legged Robots—A Review;39
9.1;2.1 Gait Planning of Multi-Legged Robots;39
9.1.1;2.1.1 Kinematics of Multi-Legged Robots;40
9.1.2;2.1.2 Dynamics of Multi-Legged Robots;41
9.1.3;2.1.3 Foot-Ground Contact Modeling;42
9.2;2.2 Power Consumption Analysis of Multi-Legged Robots;44
9.3;2.3 Stability Analysis of Multi-Legged Robots;48
9.4;2.4 Summary;52
9.5;References;52
10;3 Kinematic Modeling and Analysis of Six-Legged Robots;61
10.1;3.1 Description of the Problem;61
10.1.1;3.1.1 Description of Proposed Six-Legged Walking Robot;61
10.1.2;3.1.2 Gait Terminologies and Their Relationships;63
10.2;3.2 Analytical Framework;64
10.2.1;3.2.1 Reference System in Cartesian Coordinates;64
10.2.2;3.2.2 Kinematic Constraint Equations;68
10.2.3;3.2.3 Inverse Kinematic Model of the Six-Legged Robotic System;71
10.2.4;3.2.4 Terrain Model;73
10.2.5;3.2.5 Locomotion Planning on Various Terrains;74
10.2.6;3.2.6 Gait Planning Strategy;86
10.2.7;3.2.7 Evaluation of Kinematic Parameters;88
10.2.8;3.2.8 Estimation of Aggregate Center of Mass;92
10.3;3.3 Numerical Simulation: Study of Kinematic Motion Parameters;94
10.3.1;3.3.1 Case Study 1: Robot Motion in an Uneven Terrain with Straight-Forward Motion (DF = 1/2);95
10.3.2;3.3.2 Case Study 2: Crab Motion of the Robot on a Banked Terrain (DF = 3/4);97
10.4;3.4 Summary;102
10.5;References;104
11;4 Multi-body Inverse Dynamic Modeling and Analysis of Six-Legged Robots;105
11.1;4.1 Analytical Framework;105
11.1.1;4.1.1 Implicit Constrained Inverse Dynamic Model;106
11.1.2;4.1.2 Newtonian Mechanics with Explicit Constraints;108
11.1.3;4.1.3 Three-Dimensional Contact Force Model;110
11.1.4;4.1.4 Static Equilibrium Moment Equation;120
11.1.5;4.1.5 Actuator Torque Limits;121
11.1.6;4.1.6 Optimal Feet Forces’ Distributions;121
11.1.7;4.1.7 Energy Consumption of a Six-Legged Robot;123
11.1.8;4.1.8 Stability Measures of Six-Legged Robots;124
11.2;4.2 Numerical Illustrations;132
11.2.1;4.2.1 Study of Optimal Feet Forces’ Distribution;132
11.2.2;4.2.2 Study of Performance Indices—Power Consumption and Stability Measure;141
11.3;4.3 Summary;160
11.4;References;161
12;5 Validation Using Virtual Prototyping Tools and Experiments;164
12.1;5.1 Modeling Using Virtual Prototyping Tools;164
12.2;5.2 Numerical Simulation and Validation Using VP Tools and Experiments;165
12.2.1;5.2.1 Validation of Kinematic Motion Parameters;165
12.2.2;5.2.2 Validation of Dynamic Motion Parameters;176
12.3;5.3 Summary;188
12.4;References;191
13; Appendix;192
14;Appendix A.1 Matrix Projectors;192
15;Appendix A.2 Loop Equations w.r.t Frame G;192
16;Appendix A.3 Important Transformation Matrices;197
17;Appendix A.4 Trajectory Planning of Swing Leg;198
18;Appendix A.5 Time Calculations for Gait Planning;206
19;Appendix A.6 Kinematic Velocity and Acceleration;208
20;Calculation of Angular Velocities;208
21;Appendix A.7 Jacobian Matrices;210
22;Appendix A.8 Parameters Affecting the Dynamics of the Six-Legged Robot;212
23;Appendix A.9 Kinematic constraints with respect to G0;215
24;Appendix A.10 Geometrical Interpretation of the Interaction Region;219
25;Appendix A.11 Objective Function and Evaluation of the Constraints;223
26;Index;228