Hostname: page-component-78c5997874-v9fdk Total loading time: 0 Render date: 2024-11-13T02:56:22.714Z Has data issue: false hasContentIssue false
  • English
  • Français

Limit cycle walking, running, and skipping of telescopic-legged rimless wheel

Published online by Cambridge University Press:  29 November 2011

Fumihiko Asano  and
Masashi Suguro
Fumihiko Asano*
Affiliation:
School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan
Masashi Suguro
Affiliation:
School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan
*
*Corresponding author. E-mail: fasano@jaist.ac.jp
Get access Rights & Permissions [Opens in a new window]

Summary

This paper investigates the efficiency and properties of limit cycle walking, running, and skipping of a planar, active, telescopic-legged rimless wheel. First, we develop the robot equations of motion and design an output following control for the telescopic-legs' action. We then numerically show that a stable walking gait can be generated by asymmetrizing the impact posture. Second, we numerically show that a stable running gait can be generated by employing a simple feedback control of the control period, and compare the properties of the generated running gait with those of the walking gait. Furthermore, we find out another underlying gait called skipping that emerges as an extension of the walking gait. Through numerical analysis, we show that the generated skipping gaits are inherently stable and are less efficient than the other two gaits.

Keywords

Gait generationLimit cycle walkingRunningSkippingTelescopic-legged rimless wheel
Type
Articles
Information
Robotica , Volume 30 , Issue 6 , October 2012 , pp. 989 - 1003
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.McGeer, T., “Passive dynamic walking,” Int. J. Robot. Res. 9 (2), 62–82 (Apr. 1990).CrossRefGoogle Scholar
2.Alexander, R. M., Principles of Animal Locomotion (Princeton University Press, Princeton, NJ, USA, 2003).Google Scholar
3.McGeer, T., “Passive bipedal running,” Proc. R. Soc. Lond. Ser. B, Biol. Sci. 240 (1297), 107–134 (May 1990).Google ScholarPubMed
4.Ahmadi, M. and Buehler, M., “Stable control of a simulated one-legged running robot with hip and leg compliance,” IEEE Trans. Robot. Autom. 13 (1), 96–104 (Feb. 1997).CrossRefGoogle Scholar
5.Iida, F., Rummel, J. and Seyfarth, A., “Bipedal Walking and Running with Compliant Legs,” Proceedings of the IEEE International Conference on Robotics and Automation (Apr. 2007) pp. 3970–3975.CrossRefGoogle Scholar
6.Asano, F., “Dynamic Gait Generation of Telescopic-Legged Rimless Wheel Based on Asymmetric Impact Posture,” Proceedings of the 9th IEEE-RAS International Conference on Humanoid Robots, Paris, France (Dec. 2009) pp. 68–73.Google Scholar
7.Asano, F. and Suguro, M., “High-Speed Dynamic Gait Generation Based on Forward Tilting Impact Posture Using Telescopic Legs and Forefeet,” Proceedings of the 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2010), Nagoya, Japan (Sep. 2010) pp. 729–736.Google Scholar
8.Asano, F., “High-Speed Biped Gait Generation Based on Asymmetrization of Impact Posture Using Telescopic Legs,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan (Oct. 2010) pp. 4477–4482.Google Scholar
9.Collins, S., Ruina, A., Tedrake, R. and Wisse, M., “Efficient bipedal robots based on passive-dynamic walkers,” Science 307 (5712), 1082–1085 (Feb. 2005).CrossRefGoogle ScholarPubMed
10.Farley, C. T., “Locomotion: Just skip it,” Nature 394, 721–723 (Aug. 1998).CrossRefGoogle Scholar
11.Minetti, A. E., “The biomechanics of skipping gaits: A third locomotion paradigm?,” Proc. R. Soc. Lond. Ser. B, Biol. Sci., 265 (1402), 1227–1235 (Jul. 1998).CrossRefGoogle ScholarPubMed
12.Asano, F. and Luo, Z.-W., “On Energy-Efficient and High-Speed Dynamic Biped Locomotion with Semicircular Feet,” Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China (Oct. 2006) pp. 5901–5906.Google Scholar