Download A General Model of Legged Locomotion on Natural Terrain by David J. Manko PDF

By David J. Manko

Dynamic modeling is the basic construction block for mechanism research, layout, keep watch over and function assessment. One type of mechanism, legged machines, have a number of closed-chains verified via intermittent flooring contacts. extra, jogging on normal terrain introduces nonlinear approach compliance within the sorts of foot sinkage and slippage. Closed-chains constrain the prospective motions of a mechanism whereas compliances impact the redistribution of forces through the process.
A basic version of Legged Locomotion on common Terrain develops a dynamic mechanism version that characterizes indeterminate interactions of a closed-chain robotic with its atmosphere. The strategy is acceptable to any closed-chain mechanism with adequate touch compliance, even if legged locomotion on typical terrain is selected to demonstrate the method. The modeling and resolution strategies are common to all jogging computing device configurations, together with bipeds, quadrupeds, beam-walkers and hopping machines.
This paintings develops a practical version of legged locomotion that comes with, for the 1st time, non-conservative foot-soil interactions in a nonlinear dynamic formula. The version was once utilized to a prototype jogging laptop, and simulations generated major insights into strolling desktop functionality on average terrain. The simulations are unique and crucial contributions to the layout, assessment and regulate of those advanced robotic structures. whereas posed within the context of strolling machines, the technique has wider applicability to rolling locomotors, cooperating manipulators, multi-fingered fingers, and prehensile brokers.

Show description

Read Online or Download A General Model of Legged Locomotion on Natural Terrain PDF

Best general books

Ciba Foundation Symposium - Mammalian Germ Cells

Content material: bankruptcy 1 Biochemical elements of Semen (pages 1–11): T. MannChapter 2 The Seminal Amino? Acid and Carbohydrate trend of Bulls with basic and irregular Testes functionality (pages 12–27): F. X. Gassner and M. L. HopwoodChapter three Excretion of impartial Steroids within the Urine of Bulls with heat? brought about Aspermia.

Supplemental Proceedings: General Paper Selections, Volume 3

Provides the up to date info at the kingdom of fabrics from digital, magnetic, and photonic fabrics, gentle metals, fabrics processing and production, and structural fabrics that are of helpful gain to the worldwide undefined. content material:

Sex and the Aging Male: Understanding and Coping with Change

This publication is for males of every age, yet specially these 40 years of age and older. the writer takes a good examine being a sexual male and on the inevitable alterations existence brings. This retired marital and intercourse therapist then offers a "fail-safe" philosophy of intercourse that's strong for an entire life.

Unternehmensplanspiele im industriebetrieblichen Hochschulstudium: Analyse von Kompetenzerwerb, Motivation und Zufriedenheit am Beispiel des Unternehmensplanspiels TOPSIM – General Management II

Die betriebswirtschaftliche Ausbildung an Hochschulen muss sich stetig verändernden wirtschaftlichen, technologischen und gesellschaftlichen Rahmenbedingungen stellen. Neben einer fundierten fachlich-methodischen Ausbildung erwarten Unternehmen von betriebswirtschaftlichen Hochschulabsolventen auch ein hohes Maß an Sozial- und Selbstkompetenz.

Extra resources for A General Model of Legged Locomotion on Natural Terrain

Sample text

1. The body of the walking machine consists of two posts whose upper ends are rigidly connected by a braced crossmember; three legs attach to each body post. 2). In outward order from a body post, the leg members are defined as inner, outer and vertical links, respectively. The rotational shoulder joint connects a leg to the body post and the prismatic joint between lateral leg members is an elbow joint. The vertical link attaches to the outer member at the vertical prismatic joint and the ankle joint connects the foot to the leg.

Ecal c - 1 Convergence ratio for the (n) th iteration of a timestep is calculated as the ratio of root mean square errors for the (n)th and {n - l)th iterations, 37 Solution Procedures The convergence ratio for the chord solution is continually monitored and if this ratio exceeds an economical limit (defined by another specified parameter), then the iterative solution reverts to the altered Newton method. , specified joint force histories or trajectories) to the equations of motion for a model of legged locomotion on natural terrain generally produces an uncoupled set of DAE's.

The massless leg model accurately predicts mechanism responses for the flat and sloped settlement examples verifying the formulation of the simplified model. Body propulsion results are overestimated by the massless leg model because leg members experience minimal motions (requiring little power) yet their inertias are reallocated to the body; a heavier equivalent body must then be propelled. The massless leg model is considered sufficiently accurate for use in preliminary investigations. Based on the verification results of this chapter, it is concluded that the model of legged locomotion on natural terrain and associated solution procedures developed in this monograph are verified and suitable for general application.

Download PDF sample

Rated 4.71 of 5 – based on 31 votes