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Inverse Dynamics and Feet-Terrain Collision Model for Optimal Distribution of the Contact Forces During Crab Motion of a Hexapod Robot

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CAD/CAM, Robotics and Factories of the Future

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

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Abstract

The present study deals with the kinematics, dynamics and feet-ground contact modeling of a hexapedal robotic system. Feet-ground interaction generates contact forces, which play a very important role for locomotion on varying terrains. In this study, the constrained inverse dynamical model is formulated as a coupled dynamics problem using Newton-Euler approach with implicit constraints in Cartesian coordinates. The contact force distribution in the feet during interaction with the terrain is considered to be a constrained optimization problem. For a more realistic locomotion analysis, impact of feet-tip with the terrain is considered, which is assumed to be governed by a compliant normal contact force model. The paper also investigates the optimal feet forces’ distributions under body forces, total power consumption etc. without any external disturbance during the robot’s locomotion with wave-crab gait (duty factor = ½).

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Author information

Authors and Affiliations

  1. Virtual Prototyping & Immersive Visualization Lab, CSIR-Central Mechanical Engineering Research Institute, Durgapur, 713209, India

    Abhijit Mahapatra

  2. Department of Mechanical Engineering, National Institute of Technology, Durgapur, 713209, India

    Abhijit Mahapatra & Shibendu Shekhar Roy

  3. Department of Mechanical Engineering, Indian Institute of Technology, Kharagpur, 721302, India

    Dilip Kumar Pratihar

Authors
  1. Abhijit Mahapatra
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  2. Shibendu Shekhar Roy
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  3. Dilip Kumar Pratihar
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Corresponding author

Correspondence to Shibendu Shekhar Roy .

Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering, College of Engineering and Management, Kolaghat, West Bengal, India

    Dipak Kumar Mandal

  2. Department of Mechanical and Manufacturing Engineering, The University of the West Indies, St. Augustine, Trinidad and Tobago

    Chanan Singh Syan

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Mahapatra, A., Roy, S.S., Pratihar, D.K. (2016). Inverse Dynamics and Feet-Terrain Collision Model for Optimal Distribution of the Contact Forces During Crab Motion of a Hexapod Robot. In: Mandal, D.K., Syan, C.S. (eds) CAD/CAM, Robotics and Factories of the Future. Lecture Notes in Mechanical Engineering. Springer, New Delhi. https://doi.org/10.1007/978-81-322-2740-3_10

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  • DOI: https://doi.org/10.1007/978-81-322-2740-3_10

  • Publisher Name: Springer, New Delhi

  • Print ISBN: 978-81-322-2738-0

  • Online ISBN: 978-81-322-2740-3

  • eBook Packages: EngineeringEngineering (R0)

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