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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/11544

Title: Modeling and analysis of passive viscoelastic-legged rimless wheel that generates measurable period of double-limb support
Authors: Asano, Fumihiko
Kawamoto, Junji
Keywords: Passive dynamic walking
Double-limb support
Rimless wheel
Issue Date: 2013-04-23
Publisher: Springer
Magazine name: Multibody System Dynamics
Volume: 31
Number: 2
Start page: 111
End page: 126
DOI: 10.1007/s11044-013-9367-6
Abstract: Limit cycle walking including passive-dynamic walkers is generally modeled as a nonlinear hybrid dynamical system with state jumps. The inelastic collision model is usually derived on the assumption that the rear leg leaves the ground immediately after landing of the fore leg. This model is, however, inappropriate in the case of compliant-legged walkers. This paper then reconsiders the traditional collision model and discusses the conditions for transition to double-limb support (DLS) motion which is not instantaneous through investigations of passive dynamic walking of a viscoelastic-legged rimless wheel. First, we experimentally confirm that measurable period of DLS motion emerges after landing of the fore leg, and develop the corresponding mathematical model. Second, we numerically analyze the fundamental properties of the generated passive-dynamic gaits. Furthermore, we discuss the conditions for transition to DLS motion and specify the computational procedures.
Rights: This is the author-created version of Springer, Fumihiko Asano, Junji Kawamoto, Multibody System Dynamics, 31(2), 2013, 111-126. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11044-013-9367-6
URI: http://hdl.handle.net/10119/11544
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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