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.
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ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 28–31, 2011
Washington, DC, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
978-0-7918-5481-5
PROCEEDINGS PAPER
Infrastructure Development for Mathematical Modeling the Mechanics of Legged Locomotion Available to Purchase
Rudranarayan M. Mukherjee,
Rudranarayan M. Mukherjee
NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA
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Marc Pomerantz
Marc Pomerantz
NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA
Search for other works by this author on:
Rudranarayan M. Mukherjee
NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA
Marc Pomerantz
NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA
Paper No:
DETC2011-48664, pp. 779-785; 7 pages
Published Online:
June 12, 2012
Citation
Mukherjee, RM, & Pomerantz, M. "Infrastructure Development for Mathematical Modeling the Mechanics of Legged Locomotion." Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 4: 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A and B. Washington, DC, USA. August 28–31, 2011. pp. 779-785. ASME. https://doi.org/10.1115/DETC2011-48664
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