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https://hdl.handle.net/10119/12919
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| 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: | https://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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