Dynamics of biped robots during a complete gait cycle - Softcover

Al-Shuka, Hayder

Softcover

ISBN 10: 6139912563 ISBN 13: 9786139912568

Verlag: LAP LAMBERT Academic Publishing, 2018

Inhaltsangabe

The aim of this book is to derive the equations of motion for biped robot during different walking phases using two well-known formulations: Euler-Lagrange (E-L) and Newton-Euler (N-E) equations. The modeling problems of biped robots lie in their varying configurations during locomotion. They could be fully actuated during the single support phase (SSP) and overactuated during the double support phase (DSP). Therefore, first, the E-L equations of 6-link biped robot are described in some details for dynamic modeling during different walking phases with concentration on the DSP. Second, the detailed description of modified recursive Newton-Euler (N-E) formulation (which is very useful for modeling complex robotic system) is illustrated with a novel strategy for solution of the over-actuation/discontinuity problem. The derived equations of motion of the target biped for both formulations are suitable for control laws if the analyzer needs to deal with control problems. As expected, the N-E formulation is superior to the E-L concerning dealing with high degrees-of freedom (DOFs) robotic systems (larger than six DOFs).

Über diesen Titel

Über die Autorin bzw. den Autor

Dr.-Ing. Hayder Al-Shuka was born in Baghdad, Iraq, in 1979. He has obtained his Ph.D. at RWTH Aachen University, Department of Mechanism Theory, Machine Dynamics and Robotics (IGM), Aachen, Germany in 2014. From 2006-2017, he assigned as a lecturer at Baghdad University at the Department of Mechanical Engineering. His work is focused on bipeds.

Details zur Ausgabe

• Verlag: LAP LAMBERT Academic Publishing
• Erscheinungsdatum: 2018
• Sprache: Englisch
• ISBN 10: 6139912563
• ISBN 13: 9786139912568
• Einband: Taschenbuch
• Anzahl der Seiten: 52
• Kontakt zum Hersteller: Nicht verfügbar
• Verantwortliche Person: JustFiction Edition; customerservice@vdm-vsg.de; ; Brivibas gatve 197; Riga; 1039; Lettland