Hydraulically Actuated Hexapod Robots: Design, Implementation and Control
Hydraulically Actuated Hexapod Robots: Design, Implementation and Control
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发表时间：
2013-11
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通讯作者：
K. Nonami;R. K. Barai;A. Irawan;M. R. Daud
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作者：
K. Nonami;R. K. Barai;A. Irawan;M. R. Daud
腿式机器人是一种很有前途的运动系统，能够执行传统车辆无法完成的任务。更令人兴奋的是，对于来自不同学科的研究人员来说，这是一个快速发展的研究领域。然而，关于多足机器人主题的书籍只出版了几本。本书的主要目的是描述作者在过去 10 年中遇到的一些有关步行机器人的主要控制问题。第二个目标是特别关注重量超过 2,000 公斤的超大型液压驱动六足机器人运动，这使得本书成为该主题的第一本专业书籍。本书的 10 章涉及不同的相关主题，例如设计方面、实现问题、控制建模、导航和控制、基于力和阻抗控制的行走、完全自主行走、六足机器人的行走和工作任务以及行走机器人的未来。未来的建筑机械很可能类似于液压驱动的六足机器人，就像本书中描述的那样，不再是科幻小说，而是现在的现实。
Legged robots are a promising locomotion system, capable of performing tasks that conventional vehicles cannot. Even more exciting is the fact that this is a rapidly developing field of study for researchers from a variety of disciplines. However, only a few books have been published on the subject of multi-legged robots. The main objective of this book is to describe some of the major control issues concerning walking robots that the authors have faced over the past 10 years. A second objective is to focus especially on very large hydraulically driven hexapod robot locomotion weighing more than 2,000 kg, making this the first specialized book on this topic. The 10 chapters of the book touch on diverse relevant topics such as design aspects, implementation issues, modeling for control, navigation and control, force and impedance control-based walking, fully autonomous walking, walking and working tasks of hexapod robots, and the future of walking robots. The construction machines of the future will very likely resemble hydraulically driven hexapod robots like the ones described in this book no longer science fiction but now a reality.