Paper Title:
Running Model for a Compliant Wheel-Leg Hybrid Mobile Robot by Using a Mass-Spring Model
  Abstract

This research presents a running model for a compliant wheel-leg hybrid mobile robot. A wheel-leg consists of three legs arranged by 120 degrees to each other and passive compliant joints. For simplicity, each leg is treated as a linear spring such that a traditional mass-spring model can be applied to model running of the wheel-leg hybrid robot. In order to achieve stable running, we propose a simple controller that can converge a robot leg to a desired angle of attack asymptotically during the swing phase. Hybrid wheel-leg running is then simulated and results are discussed.

  Info
Periodical
Chapter
Chapter 14: Modeling, Analysis, and Simulation of Manufacturing Processes
Edited by
Wu Fan
Pages
2762-2767
DOI
10.4028/www.scientific.net/AMM.110-116.2762
Citation
Y. S. Kim, D. H. Shin, "Running Model for a Compliant Wheel-Leg Hybrid Mobile Robot by Using a Mass-Spring Model", Applied Mechanics and Materials, Vols. 110-116, pp. 2762-2767, 2012
Online since
October 2011
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$32.00
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