Ship to
Netherlands
0

My Account

  • argentina
  • chile
  • colombia
  • españa
  • méxico
  • perú
  • estados unidos
  • internacional

menu

Select your country

Americas

Europe

Rest of the world

portada A General Model of Legged Locomotion on Natural Terrain
Type
Physical Book
Author
Publisher
Language
English
Pages
116
Format
Paperback
Dimensions
23.4 x 15.6 x 0.7 cm
Weight
0.20 kg.
ISBN13
9781461365884
Categories

A General Model of Legged Locomotion on Natural Terrain

David J. Manko (Author) · Springer · Paperback

A General Model of Legged Locomotion on Natural Terrain - Manko, David J.

Cheaper New Book Imported to Netherlands
Delivery: 19 Aug - 26 Aug Shipping: 13 to 17 business days.
54,59 €
Faster New Book Imported to Netherlands
Delivery: 07 Aug - 11 Aug Shipping: 5 to 6 business days.
69,45 €
Import costs and 9% BTW included in the price ✅
54,59 €

Choose the list to add your product or create one New List

Go to My Wishlists
Calculate shipping cost

Synopsis "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 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.

Customers reviews

More customer reviews
  • 0% (0)
  • 0% (0)
  • 0% (0)
  • 0% (0)
  • 0% (0)

Frequently Asked Questions about the Book

Is the book original?

All books in our catalog are Original.

In what language is the book written?

The book is written in English.

What is the format of this book?

The binding of this edition is Paperback.

Questions and Answers about the Book

Do you have a question about the book? Login to be able to add your own question.

Opinions about Bookdelivery

More customer reviews