Dynamic Simulation of a Passive Walking Robot with Friction and Impact

Abstract:

This paper design an unpowered wadding duck robot based on the non-smooth dynamics as well as friction and impact effects. The duck robot can swing-roll-slip stably and periodically along the slope down without any external drives and controls. The motion characteristics of the robot are investigated and the motion parameters simulations of the passive movement gait are subsequently implemented. The time history of the dynamic parameters showed an obvious cyclical variation, which indicates the robot is able to achieve cyclical, stable passive movement.

• Periodical: Advanced Materials Research (Volumes 753-755)
• Pages: 2025-2028
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.753-755.2025
• Online since: August 2013
• Authors: Yong Xu, Shan Ping Zhang, Xin Yao Song
• Keywords: Dynamic Simulation, Non-Smooth Dynamics, Passive Robot

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