Running Model for a Compliant Wheel-Leg Hybrid Mobile Robot by Using a Mass-Spring Model

Abstract:

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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:

Edited by:

Wu Fan

Pages:

2762-2767

DOI:

10.4028/www.scientific.net/AMM.110-116.2762

Citation:

Y. S. Kim and 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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Price:

$35.00

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