Title :
Limit cycle running of telescopic-legged rimless wheel
Author :
Asano, Fumihiko ; Suguro, Masashi
Author_Institution :
Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol., Ishikawa, Japan
Abstract :
This paper investigates active dynamic running of a planar telescopic-legged rimless wheel. Unlike the most dynamic runners with compliant legs, our model achieves stable limit-cycle running only by a simple extension control of the stance leg. We first generate a stable running gait by adjusting the desired settling time for the leg-extension control. We then analyze the gait efficiency with respect to the change of the desired settling time. Furthermore, several extentions, comparison with walking gait and running up slopes, are discussed.
Keywords :
legged locomotion; limit cycles; robot dynamics; wheels; active dynamic running; gait efficiency; limit cycle running; running gait; running up slopes; stance leg extension control; telescopic-legged rimless wheel; walking gait; Force; Leg; Legged locomotion; Limit-cycles; Mathematical model; Resistance;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5979627