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Author: Sangbae Kim Publisher: ISBN: 9781680832570 Category : Artificial legs Languages : en Pages : 73
Book Description
Animals exhibit remarkable locomotion capabilities across land, sea, and air in every corner of the world. On land, legged morphologies have evolved to manifest magnificent mobility over a wide range of surfaces. From the ability to use footholds for navigating a challenging mountain pass, to the capacity for running on a sandy beach, the adaptability afforded through legs motivates their prominence as the biologically preferred method of ground transportation. Inspired by these achievements in nature, robotics engineers have strived for decades to achieve similar dynamic locomotion capabilities in legged machines. Learning from animals' compliant structures and ways of utilizing them, engineers developed numerous novel mechanisms that allow for more dynamic, more efficient legged systems. These newly emerging robotic systems possess distinguishing mechanical characteristics in contrast to manufacturing robots in factories and pave the way for a new era of mobile robots to serve our society. Realizing the full capabilities of these new legged robots is a multi-factorial research problem, requiring coordinated advances in design, control, perception, state estimation, navigation and other areas. This review article concentrates particularly on the mechanical design of legged robots, with the aim to inform both future advances in novel mechanisms as well as the coupled problems described above. Essential technological components considered in mechanical design are discussed through historical review. Emerging design paradigms are then presented, followed by perspectives on their future applications.
Author: Sangbae Kim Publisher: ISBN: 9781680832570 Category : Artificial legs Languages : en Pages : 73
Book Description
Animals exhibit remarkable locomotion capabilities across land, sea, and air in every corner of the world. On land, legged morphologies have evolved to manifest magnificent mobility over a wide range of surfaces. From the ability to use footholds for navigating a challenging mountain pass, to the capacity for running on a sandy beach, the adaptability afforded through legs motivates their prominence as the biologically preferred method of ground transportation. Inspired by these achievements in nature, robotics engineers have strived for decades to achieve similar dynamic locomotion capabilities in legged machines. Learning from animals' compliant structures and ways of utilizing them, engineers developed numerous novel mechanisms that allow for more dynamic, more efficient legged systems. These newly emerging robotic systems possess distinguishing mechanical characteristics in contrast to manufacturing robots in factories and pave the way for a new era of mobile robots to serve our society. Realizing the full capabilities of these new legged robots is a multi-factorial research problem, requiring coordinated advances in design, control, perception, state estimation, navigation and other areas. This review article concentrates particularly on the mechanical design of legged robots, with the aim to inform both future advances in novel mechanisms as well as the coupled problems described above. Essential technological components considered in mechanical design are discussed through historical review. Emerging design paradigms are then presented, followed by perspectives on their future applications.
Author: Sangbae Kim Publisher: ISBN: 9781680832563 Category : Languages : en Pages : 86
Book Description
Focuses on the mechanical design of legged robots, from the history through to the present day. Discusses some of the main challenges to actuator design in legged robots and examines a recently developed technology called proprioceptive actuators in order to meet the needs of today's legged machines.
Author: Abhijit Mahapatra Publisher: Springer Nature ISBN: 9811529531 Category : Computers Languages : en Pages : 203
Book Description
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.
Author: Maziar Ahmad Sharbafi Publisher: Butterworth-Heinemann ISBN: 0128037741 Category : Technology & Engineering Languages : en Pages : 698
Book Description
Bioinspired Legged Locomotion: Models, Concepts, Control and Applications explores the universe of legged robots, bringing in perspectives from engineering, biology, motion science, and medicine to provide a comprehensive overview of the field. With comprehensive coverage, each chapter brings outlines, and an abstract, introduction, new developments, and a summary. Beginning with bio-inspired locomotion concepts, the book's editors present a thorough review of current literature that is followed by a more detailed view of bouncing, swinging, and balancing, the three fundamental sub functions of locomotion. This part is closed with a presentation of conceptual models for locomotion. Next, the book explores bio-inspired body design, discussing the concepts of motion control, stability, efficiency, and robustness. The morphology of legged robots follows this discussion, including biped and quadruped designs. Finally, a section on high-level control and applications discusses neuromuscular models, closing the book with examples of applications and discussions of performance, efficiency, and robustness. At the end, the editors share their perspective on the future directions of each area, presenting state-of-the-art knowledge on the subject using a structured and consistent approach that will help researchers in both academia and industry formulate a better understanding of bioinspired legged robotic locomotion and quickly apply the concepts in research or products. - Presents state-of-the-art control approaches with biological relevance - Provides a thorough understanding of the principles of organization of biological locomotion - Teaches the organization of complex systems based on low-dimensional motion concepts/control - Acts as a guideline reference for future robots/assistive devices with legged architecture - Includes a selective bibliography on the most relevant published articles
Author: Abul K. M. Azad Publisher: World Scientific ISBN: 9814415944 Category : Technology & Engineering Languages : en Pages : 904
Book Description
This book provides state-of-the-art scientific and engineering research findings and developments in the area of mobile robotics and associated support technologies. The book contains peer reviewed articles presented at the CLAWAR 2012 conference. Robots are no longer confined to industrial and manufacturing environments. A great deal of interest is invested in the use of robots outside the factory environment. The CLAWAR conference series, established as a high profile international event, acts as a platform for dissemination of research and development findings and supports such a trend to address the current interest in mobile robotics to meet the needs of mankind in various sectors of the society. These include personal care, public health, services in the domestic, public and industrial environments. The editors of the book have extensive research experience and publications in the area of robotics in general and in mobile robotics specifically, and their experience is reflected in editing the contents of the book.
Author: D. J. Todd Publisher: Springer Science & Business Media ISBN: 1468468588 Category : Science Languages : en Pages : 184
Book Description
The first chapter of this book traces the history of the development of walking machines from the original ideas of man-amplifiers and military rough-ground transport to today's diverse academic and industrial research and development projects. It concludes with a brief account of research on other unusual methods of locomotion. The heart of the book is the next three chapters on the theory and engineering of legged robots. Chapter 2 presents the basics of land loco motion, going on to consider the energetics of legged movement and the description and classification of gaits. Chapter 3, dealing with the mechanics of legged vehicles, goes into leg number and arrangement, and discusses mechanical design and actuation methods. Chapter 4 deals with analysis and control, describing the aims of control theory and the methods of modelling and control which have been used for both highly dynamic robots and multi-legged machines. Having dealt with the theory of control it is necessary to discuss the computing system on which control is to be implemented. This is done in Chapter 5, which covers architectures, sensing, algorithms and pro gramming languages. Chapter 6 brings together the threads of the theory and engineering discussed in earlier chapters and summarizes the current walking machine research projects. Finally, the applications, both actual and potential, of legged locomotion are described. Introduction Research into legged machines is expanding rapidly. There are several reasons why this is happening at this particular time.
Author: Eric R. Westervelt Publisher: CRC Press ISBN: 1420053736 Category : Technology & Engineering Languages : en Pages : 528
Book Description
Bipedal locomotion is among the most difficult challenges in control engineering. Most books treat the subject from a quasi-static perspective, overlooking the hybrid nature of bipedal mechanics. Feedback Control of Dynamic Bipedal Robot Locomotion is the first book to present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots. In this unique and groundbreaking treatise, expert authors lead you systematically through every step of the process, including: Mathematical modeling of walking and running gaits in planar robots Analysis of periodic orbits in hybrid systems Design and analysis of feedback systems for achieving stable periodic motions Algorithms for synthesizing feedback controllers Detailed simulation examples Experimental implementations on two bipedal test beds The elegance of the authors' approach is evident in the marriage of control theory and mechanics, uniting control-based presentation and mathematical custom with a mechanics-based approach to the problem and computational rendering. Concrete examples and numerous illustrations complement and clarify the mathematical discussion. A supporting Web site offers links to videos of several experiments along with MATLAB® code for several of the models. This one-of-a-kind book builds a solid understanding of the theoretical and practical aspects of truly dynamic locomotion in planar bipedal robots.
Author: Aaron Murdock Hoover Publisher: ISBN: Category : Languages : en Pages : 232
Book Description
This thesis explores milli- and meso-scale legged robot design and fabrication with compliant mechanisms. Our approach makes use of a process that integrates compliant flexure hinges and rigid links to form parallel kinematic structures through the folding of flat-fabricated sheets of articulated parts. Using screw theory, we propose the formulation of an equivalent mechanism compliance for a class of parallel mechanisms, and we use that compliance to evaluate a scalar performance metric based on the strain energy stored in a mechanism subjected to an arbitrary load. Results from the model are supported by experimental measurements of a representative mechanism. With the insight gained from the kinematic mechanism design analysis, we propose and demonstrate compliant designs for two six-legged robots comprising the robotic, autonomous, crawling hexapod (RoACH) family of robots. RoACH is a two degree of freedom, 2.4 gram, 3 cm long robot capable of untethered, sustained, steerable locomotion. RoACH's successor, DynaRoach, is 10 cm long, has one actuated degree of freedom and is capable of running speeds of up to 1.4 m/s. DynaRoACH employs compliant legs to help enable dynamic running and maneuvering and is three orders of magnitude more efficient than its milli-scale predecessor. We experimentally demonstrate the feasibility of a biologically-inspired approach to turning control and dynamic maneuvering by adjusting leg stiffness. While the result agrees qualitatively with predictions from existing reduced order models, initial data suggest the full 3-dimensional dynamics play an important role in six-legged turning.
Author: Sangbae Kim
Author: Sangbae Kim
Author: Sangbae Kim
Author: Abhijit Mahapatra
Author: Maziar Ahmad Sharbafi
Author: Abul K. M. Azad
Author: D. J. Todd
Author: Surya P. N. Singh
Author: Alborz Aghamaleki Sarvestani
Author: Eric R. Westervelt
Author: Aaron Murdock Hoover