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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/10845

Title: Limit cycle walking, running, and skipping of telescopic-legged rimless wheel
Authors: Asano, Fumihiko
Suguro, Masashi
Keywords: Gait generation
Limit cycle walking
Running
Skipping
Telescopic-legged rimless wheel
Issue Date: 2011-11-29
Publisher: Cambridge University Press
Magazine name: Robotica
Volume: 30
Number: 06
Start page: 989
End page: 1003
DOI: 10.1017/S0263574711001226
Abstract: This paper investigates the efficiency and properties of limit cycle walking, running, and skipping of a planar, active, telescopic-legged rimless wheel. First, we develop the robot equations of motion and design an output following control for the telescopic-legs' action. We then numerically show that a stable walking gait can be generated by asymmetrizing the impact posture. Second, we numerically show that a stable running gait can be generated by employing a simple feedback control of the control period, and compare the properties of the generated running gait with those of the walking gait. Furthermore, we find out another underlying gait called skipping that emerges as an extension of the walking gait. Through numerical analysis, we show that the generated skipping gaits are inherently stable and are less efficient than the other two gaits.
Rights: Copyright (C) 2011 Cambridge University Press. Fumihiko Asano and Masashi Suguro, Robotica, 30(06), 2011, 989-1003. http://dx.doi.org/10.1017/S0263574711001226
URI: http://hdl.handle.net/10119/10845
Material Type: publisher
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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