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Modeling and analysis of sixlegged robots: Analytical and soft computingbased methods,Used
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Over the last four decades, the legged robots had been widely investigated due to their better mobility and terrain adaptability characteristics, while moving on natural terrains. Kinematics, dynamics, stability and energy consumption analysis of different types of gaits are the key elements of study in the field of multilegged robots locomotion. In the present book, a systematic analytical model has been developed to study the kinematics and dynamics along with energy efficiency and stability of a realistic sixlegged robot, negotiating straightforward, crab and turning motions. Moreover, soft computingbased models, namely backpropagation algorithmtuned multiple adaptive neurofuzzy inference systems; genetic algorithmtuned multiple adaptive neurofuzzy inference systems; genetic algorithmtuned coactive neurofuzzy inference systems and genetic algorithmtuned backpropagation neural networks, have been developed to predict specific energy consumption and normalized energy stability margin in straight, crab and turning motions of the said robot. This book could be useful to researchers and technologists working in the field of mobile robots.
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