Biologically Inspired Series-Parallel Hybrid Robots: Design, Analysis, and Control

ISBN-13: 9780323884822 / Angielski / Miękka / 2024

Shivesh Kumar; Andreas Mueller; Frank Kirchner

Opis

Biologically Inspired Series-Parallel Hybrid Robots: Design, Analysis and Control provides an extensive review of the state-of-the-art in series-parallel hybrid robots, covering all aspects of their mechatronics system design. The book highlights the modular and distributed aspects in their mechanical, electronics, and software design, presenting case studies on various famous series-parallel hybrid robots which will inspire new robot developers. The book also introduces various modern methods for modeling the kinematics and dynamics of complex robots. These methods are also introduced in the form of algorithms or pseudo-code which can be easily programmed with modern day programming languages.

Spis treści

Part 1: Introduction to Biologically Inspired Hybrid Robots1. Motivation2. Modular and Decentralized Design PrinciplesPart 2: Geometric Analysis3. Modern methods in Geometric Analysis (4 bar mechanism, slider crank)4. Study of 2-DOF Parallel Mechanisms (2SPRR+1U, 2SPU+1U)5. Study of 3-DOF Parallel Mechanisms (Active Ankle)6. Study of 6-DOF Parallel Mechanisms (6-UPS, 6-RUS)Part 3: Kinematics, Dynamics and Control7. Kinematics and Dynamics of Tree-Type systems8. Modular Algorithms for Kinematics and Dynamics of series-parallel hybrid robots9. Learning and Control approaches for hybrid robotsPart 4: Mechatronic System Design of Some Hybrid Robots10. Hominid robot Charlie11. Multi-legged robot Mantis12. Active Suspension Rover: SherpaTT13. Recupera-Reha Exoskeleton14. RH5 Humanoid15. Lola humanoid16. NASA ValkyriePart 5: Outlook17. Parallel redundant mechanisms18. Soft actuation modules19. Computational Design of Hybrid Robots20. Conclusion and Future Work