ICRA 2011 Paper Abstract


Paper TuP1-InteracInterac.2

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

Limit Cycle Running of Telescopic-Legged Rimless Wheel

Scheduled for presentation during the Poster Sessions "Interactive Session II: Systems, Control and Automation" (TuP1-InteracInterac), Tuesday, May 10, 2011, 13:40−14:55, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Passive Walking, Underactuated Robots, Multi-legged Robots


This paper investigates active dynamic running of a planar telescopic-legged rimless wheel. Unlike the most dynamic runners with compliant legs, our model achieves stable limit-cycle running only by a simple extension control of the stance leg. We first generate a stable running gait by adjusting the desired settling time for the leg-extension control. We then analyze the gait efficiency with respect to the change of the desired settling time. Furthermore, several extensions, comparison with walking gait and running up slopes, are discussed.



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