Passive dynamic walking of rimless wheel with 2-DOF wobbling mass

Author

Asano, Futoshi ; Sogawa, T. ; Tamura, Keiichi ; Akutsu, Yukihiro

Author_Institution

Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol., Nomi, Japan

fYear

2013

fDate

3-7 Nov. 2013

Firstpage

3120

Lastpage

3125

Abstract

It was clarified that limit cycle walkers can improve the gait efficiency by using the oscillatory effect of a wobbling mass moving in the body frame. In this research, we investigate the effects of a 2-DOF wobbling mass on the gait properties. As the simplest walker for analysis, we introduce the model of a planar eight-legged rimless wheel (RW) with a passive 2-DOF wobbling mass that is connected to the RW incorporating a spring and a damper. Through numerical simulations, we analyze changes in the gait properties with respect to the system parameters such as the slope angle and the elastic coefficient. Furthermore, entrainment to a wobbling mass motion actively controlled to rotate is also investigated.

Keywords

elasticity; legged locomotion; numerical analysis; robot dynamics; shock absorbers; springs (mechanical); wheels; 2-DOF wobbling mass; damper; elastic coefficient; gait efficiency; gait property; limit cycle walkers; numerical simulations; oscillatory effect; passive 2DOF wobbling mass; passive dynamic walking; planar eight-legged rimless wheel; slope angle; spring; system parameters; wobbling mass motion; Equations; Force; Legged locomotion; Mathematical model; Numerical simulation; Vectors; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on

Conference_Location

Tokyo

ISSN

2153-0858

Type

conf

DOI

10.1109/IROS.2013.6696799

Filename

6696799