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.

• Periodical: Applied Mechanics and Materials (Volumes 110-116)
• Pages: 2762-2767
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.110-116.2762
• Online since: October 2011
• Authors: Young Shik Kim, Dong Hwan Shin
• Keywords: Mass-Spring Model, Passive Compliant Joints, Running, Swing Control, Wheel-Leg Hybrid Mobile Robot

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