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https://hdl.handle.net/10119/15453
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| Title: | Indirectly controlled limit cycle walking of combined rimless wheel based on entrainment to active wobbling motion |
| Authors: | Asano, Fumihiko
Tokuda, Isao |
| Keywords: | Combined rimless wheel
Passive dynamic walking
Entrainment
Wobbling mass |
| Issue Date: | 2014-04-24 |
| Publisher: | Springer |
| Magazine name: | Multibody System Dynamics |
| Volume: | 34 |
| Number: | 2 |
| Start page: | 191 |
| End page: | 210 |
| DOI: | 10.1007/s11044-014-9419-6 |
| Abstract: | It has been clarified that a passive combined rimless wheel (CRW) that consists of two identical eight-legged rimless wheels can increase the walking speed either by adjusting the phase difference between the fore and rear legs or by using a passive wobbling mass that vibrates up-and-down in the body frame. Toward a further speeding-up of the CRW, this paper investigates the effect of an active wobbling mass driven by an actuator and the effect of an indirect excitation control. First, we develop the mathematical model and numerically show that the CRW generates a walking motion, which is entrained to the up-and-down motion of the active wobbling mass at frequencies higher than the natural frequency of the CRW. We discuss the gait properties mainly from the viewpoints of frequency and phase relationships. Second, we conduct verification experiments using our prototype CRW machine and describe the results. |
| Rights: | This is the author-created version of Springer, Fumihiko Asano, Isao Tokuda, Multibody System Dynamics, 34(2), 2014, 191-210. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11044-014-9419-6 |
| URI: | https://hdl.handle.net/10119/15453 |
| Material Type: | author |
| Appears in Collections: | b10-1. 雑誌掲載論文 (Journal Articles)
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