Multi-body Dynamic Modeling Of Multi-legged Robots by Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar

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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.

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“If you want to know what a man's like, take a good look at how he treats his inferiors, not his equals.” ― J.K. Rowling

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