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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/12919

Title: Modeling, control and analysis of limit cycle walking on slippery road surface
Authors: Asano, Fumihiko
Kikuchi, Yasunori
Shibata, Masahiro
Issue Date: 2014-03-22
Publisher: Springer
Magazine name: International Journal of Dynamics and Control
Volume: 2
Number: 4
Start page: 463
End page: 473
DOI: 10.1007/s40435-014-0084-7
Abstract: This paper investigates the feasibility and fundamental gait properties of active and passive limit-cycle walkers that walk on slippery road surface. First, we introduce the model of an underactuated spoked walker with a torso and mathematically analyze the collision model on the assumption of sliding contact with the ground to identify the condition for achieving instantaneous stance-leg exchange. Second, we develop the equation of motion incorporating sliding friction acting on the stance-leg-end and numerically show that the walker can generate a stable walking gait by applying a simple control of the torso. Furthermore, we discuss the case of passive dynamic walking on slippery slope using the same model but without considering the torso dynamics.
Rights: This is the author-created version of Springer, Fumihiko Asano, Yasunori Kikuchi, Masahiro Shibata, International Journal of Dynamics and Control, 2(4), 2014, 463-473. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s40435-014-0084-7
URI: http://hdl.handle.net/10119/12919
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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