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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/15453

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
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: http://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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