Hydraulically Actuated Hexapod Robots

Design, Implementation and Control

  • Kenzo Nonami
  • Ranjit Kumar Barai
  • Addie Irawan
  • Mohd Razali Daud

Table of contents

  1. Front Matter
    Pages i-xiii
  2. Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 1-18
  3. Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 19-40
  4. Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 41-84
  5. Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 85-104
  6. Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 105-139
  7. Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 141-167
  8. Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 169-197
  9. Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 199-235
  10. Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 237-261
  11. Kenzo Nonami, Ranjit Kumar Barai, Addie Irawan, Mohd Razali Daud
    Pages 263-269
  12. Back Matter
    Pages 271-277

About this book

Introduction

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.

Keywords

Autonomous walking Autonomous walking robots Hexapod robots Hydraulically driven Impedance-based walking control Master–slave control Modeling and control Position control Tele-operated control Walking and working

Authors and affiliations

  • Kenzo Nonami
    • 1
  • Ranjit Kumar Barai
    • 2
  • Addie Irawan
    • 3
  • Mohd Razali Daud
    • 4
  1. 1.Graduate School & Fuclty of EngineeringChiba UniversityChibaJapan
  2. 2.KolkataIndia
  3. 3.Universiti Malaysia PahangPahangMalaysia
  4. 4.Universiti Malaysia PahangPahangMalaysia

Bibliographic information

  • DOI https://doi.org/10.1007/978-4-431-54349-7
  • Copyright Information Springer Japan 2014
  • Publisher Name Springer, Tokyo
  • eBook Packages Engineering
  • Print ISBN 978-4-431-54348-0
  • Online ISBN 978-4-431-54349-7
  • Series Print ISSN 2213-8986
  • Series Online ISSN 2213-8994
  • About this book
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