DocumentCode
2542513
Title
A study of gait and flywheel torque effect on legged machines using a dynamic compliant joint model
Author
Shih, Liang ; Frank, Andrew A.
Author_Institution
Eastman Kodak Company, Rochester, NY, USA
Volume
4
fYear
1987
fDate
31837
Firstpage
527
Lastpage
532
Abstract
The work described herein is an extension of the compliant joint modelling technique applied to the simulation of a walking machine which is a multi-loop mechanism with a combination of closed and open kinematic chains. The effects of leg mass and compliance, joint clearance as well as leg contact with the ground are studied. The simulation includes tripod and wave gait patterns. Gyroscopic effects of a flywheel power plant are also investigated. Complete dynamic and kinematic simulations for the Ohio State University Adaptive Suspension Vehicle (ASV) are presented.
Keywords
Flywheels; Kinematics; Leg; Legged locomotion; Power generation; Power system modeling; Springs; Torque; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1088039
Filename
1088039
Link To Document