Auteur Shivesh Kumar is a researcher and team leader of the Mechanics & Control team at the Robotics Innovation Center, German Res...
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Shivesh Kumar is a researcher and team leader of the Mechanics & Control team at the Robotics Innovation Center, German Research Center for Artificial Intelligence (DFKI GmbH), Bremen. He obtained his PhD degree (Dr. rer. nat.) from Faculty of Mathematics and Computer Science at the University of Bremen in November 2019 with summa cum laude. Previously, he holds a master's degree in Control Engineering, Robotics, and Applied Informatics with specialization in Advanced Robotics from Ecole Centrale de Nantes, France in 2015 and bachelor's degree in Mechanical Engineering from National Institute of Technology Karnataka, India in 2013. His research interests include kinematics, dynamics and control of robots with applications in the fields of exoskeletons, humanoids, rehabilitation and industrial automation.
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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. It presents case studies on various famous series-parallel hybrid robots which will inspire new robot developers.
It also introduces various modern methods for modelling 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.
This book will be especially useful for academic and industry researchers in this exciting field, as well as graduate-level students to bring them up to speed with the latest technology in mechanical design and control aspects of the area.
Part 1: Introduction to Biologically Inspired Hybrid Robots
Modular and Decentralized Design Principles
Part 2: Geometric Analysis
Modern methods in Geometric Analysis (4 bar mechanism, slider crank)
Study of 2-DOF Parallel Mechanisms (2SPRR+1U, 2SPU+1U)
Study of 3-DOF Parallel Mechanisms (Active Ankle)
Study of 6-DOF Parallel Mechanisms (6-UPS, 6-RUS)
Part 3: Kinematics, Dynamics and Control
Kinematics and Dynamics of Tree-Type systems
Modular Algorithms for Kinematics and Dynamics of series-parallel hybrid robots
Learning and Control approaches for hybrid robots
Part 4: Mechatronic System Design of Some Hybrid Robots
Hominid robot Charlie
Multi-legged robot Mantis
Active Suspension Rover: SherpaTT
Part 5: Outlook
Parallel redundant mechanisms
Soft actuation modules
Computational Design of Hybrid Robots
Conclusion and Future Work
Informations sur le produit
Biologically Inspired Series-Parallel Hybrid Robots: Design, Analysis and Control