IROS 2015 Paper Abstract


Paper ThFT9.5

Asano, Fumihiko (Japan Advanced Institute of Science and Technology)

Underactuated Rimless Wheel with Small Passive Rollers Aiming at Verification Experiment for Sliding Limit Cycle Walking

Scheduled for presentation during the Regular session "Legged Robots 4" (ThFT9), Thursday, October 1, 2015, 17:50−18:05, Saal B2

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 20, 2019

Keywords Underactuated Robots, Motion and Trajectory Generation, Legged Robots


This paper proposes a novel underactuated rimless wheel (URW) that has high stiffness and reproduces walking motion sliding on a slippery road surface. First, we describe the overview of the experimental URW we developed and its mechanical features. Second, we develop the equations of motion and collision for the ideal URW with small passive rollers, and discuss the collision dynamics for stance-leg exchange with the prospect of transition to non-instantaneous double-support motion. Third, we perform numerical simulations to understand the fundamental properties of the gait rolling on a rigid road surface and its similarity to limit cycle walking on a slippery road surface.



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