{"product_id":"9781461365884","title":"The Springer International Series in Engineering and Computer Science","description":"\u003ch1\u003eThe Springer International Series in Engineering and Computer Science\u003c\/h1\u003e \u003ch2\u003eManko, David J.\u003c\/h2\u003e \u003cp\u003eDynamic modeling is the fundamental building block for  mechanism analysis, design, control and performance evaluation. One  class of mechanism, legged machines, have multiple closed-chains  established through intermittent ground contacts. Further, walking on  natural terrain introduces nonlinear system compliance in the forms of  foot sinkage and slippage. Closed-chains constrain the possible  motions of a mechanism while compliances affect the redistribution of  forces throughout the system. \u003cbr\u003e  \u003cem\u003eA General Model of Legged Locomotion on Natural Terrain\u003c\/em\u003e develops  a dynamic mechanism model that characterizes indeterminate  interactions of a closed-chain robot with its environment. The  approach is applicable to any closed-chain mechanism with sufficient  contact compliance, although legged locomotion on natural terrain is  chosen to illustrate the methodology. The modeling and solution  procedures are general to all walking machine configurations,  including bipeds, quadrupeds, beam-walkers and hopping machines. \u003cbr\u003e  This work develops a functional model of legged locomotion that  incorporates, for the first time, non-conservative foot-soil  interactions in a nonlinear dynamic formulation. The model was applied  to a prototype walking machine, and simulations generated significant  insights into walking machine performance on natural terrain. The  simulations are original and essential contributions to the design,  evaluation and control of these complex robot systems. While posed in  the context of walking machines, the approach has wider applicability  to rolling locomotors, cooperating manipulators, multi-fingered hands,  and prehensile agents. \u003cbr\u003e\u003c\/p\u003e \u003ch3\u003eDetails\u003c\/h3\u003e \u003cp\u003ePublished by: Springer\u003c\/p\u003e \u003cp\u003ePublication Date: 2012-11-10\u003c\/p\u003e \u003cp\u003eFormat: Paperback\u003c\/p\u003e \u003cp\u003eISBN-13: 9781461365884\u003c\/p\u003e \u003cp\u003eDOI: 10.1007\/978-1-4615-3574-4\u003c\/p\u003e \u003cp\u003eDimensions: 235cm x155cm\u003c\/p\u003e \u003cp\u003ePages: 116\u003c\/p\u003e ","brand":"Springer US","offers":[{"title":"Default Title","offer_id":44407996088460,"sku":"9781461365884","price":49.49,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0710\/9545\/1788\/files\/9781461365884_48f8b0c6-8e43-4040-b344-b2fffc5f0e7c.jpg?v=1775709093","url":"https:\/\/lateknightbooks.com\/products\/9781461365884","provider":"Late Knight Books and Services, LLC","version":"1.0","type":"link"}