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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Rudranarayan, M. Mukherjee Pomerantz, Marc |
| Copyright Year | 2011 |
| Abstract | Legged locomotion of robotic systems on natural or man-made terrain is a complex, hybrid dynamics phenomenon. Effective design and control of these robots requires mathematical understanding of the system dynamics and exploration over a large design space for feasible design solutions. We are working on the development of a high-fidelity, multi-resolution mathematical modeling infrastructure to study the mechanics of legged locomotion. In this paper, we report some of the recent developments made in our effort. We report the implementation of (i) a multi-rigid body dynamics simulator based on cutting edge algorithms in computational multibody dynamics, (ii) a visualization engine that integrates with the dynamics simulator for real-time visualization of the CAD parts of generic multibody systems, (iii) integration and functionality of the coupled entity of the dynamics simulator and the visualization engine as a stand alone application and (iv) our investigations into massively parallel granular media modeling for ab-initio modeling of the contact mechanics of mobility platforms interacting with natural terrain. |
| Sponsorship | Design Engineering Division and Computers and Information in Engineering Division |
| Starting Page | 779 |
| Ending Page | 785 |
| Page Count | 7 |
| File Format | |
| ISBN | 9780791854815 |
| DOI | 10.1115/DETC2011-48664 |
| Volume Number | Volume 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A and B |
| Conference Proceedings | ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2011-08-28 |
| Publisher Place | Washington, DC, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Legged locomotion Visualization Mechanical admittance System dynamics Multibody systems Contact mechanics Computer-aided design Modeling Engines Robotics Design Cutting Algorithms Dynamics (mechanics) Multibody dynamics Resolution (optics) Robots |
| Content Type | Text |
| Resource Type | Article |
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