Limit Cycle Running of Telescopic-legged Rimless Wheel

摘要：

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 extensions, comparison with walking gait and running up slopes, are discussed.

作者: Fumihiko Asano Masashi Suguro

作者单位: School of Information Science,Japan Advanced Institute of Science and Technology,1-1 Asahidai,Nomi,Ishikawa 923-1292,Japan

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1652-1657

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）