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
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四足运动:四足机器人控制技术 an introduction to the control of four-legged robots 作者:(西)Pablo Gonzalez de Santos,(西)Elena Garcia,(西)Joaquin Estremera著 ISBN:978-7-5170-6388-9 出版社:中国水利水电出版社 出版时间:2018.04 简介 本书的主要内容有:步行机械的发展历程及其潜在价值、步行机械的...
Free Gait is a software framework for the versatile, robust, and task-oriented control of legged robots. The Free Gait interface defines a whole-body abstraction layer to accommodate a variety of task-space control commands such as end effector, joint, and base motions. The defined motion ...
Energy consumption in legged robots is a function of mass distribution [76], nature of desired gaits [77] and legs configuration [78]. Due to the pros and cons associated with wheeled and legged locomotion mechanisms, generally wheels are the choice when operational environment is a flat ground...
Introduction For robots to complete exploration, monitoring, rescue, and other tasks in the real world on unstructured roads, the most basic requirement is to be able to move in rough ground environments. Compared with tracked and legged robots, wheeled robots have the characteristics of faster ...
Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to guide the early stages of legged robot design. The end effectors track an input trajectory and the necessary joint spe
For example, a modular robot may be capable of changing its configuration from a legged robot, to a snake or a rolling robot depending upon the terrain layout. Modularity and reconfigurability also enable robots to perform tasks that a single module or a fixed-structure robot is unable to ...
Digitally controlled legged robots started to appear in the late 1960s. But by the end of the 1970s were still limited to quasistatic gaits, that is, slow walking motions with the center of mass (CoM) of the robot always kept above its feet. Digitally controlled legged robots started to ...
While legged robots are very promising systems, reliably controlling their movements, or locomotion, can be challenging. While some teams have previously created locomotion controllers manually, others tried to program them automatically, using machine learning algorithms. Automatically designing them can be...