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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ke-Jung Huang Pei-Chun Lin |
| Copyright Year | 2012 |
| Description | Author affiliation: Department of Mechanical Engineering, National Taiwan University (NTU), No.1 Roosevelt Rd. Sec.4, Taipei, Taiwan (Ke-Jung Huang; Pei-Chun Lin) |
| Abstract | We report on the development of the model for running locomotion with rolling contact, R-SLIP, to simulate the motion of the robot with circular legs. Thus, two significant characteristics which cannot be correctly modeled in the traditional SLIP, rolling contact with varied equivalent linear spring during locomotion, can be adequately captured. The stability of the R-SLIP model was analyzed numerically by varying the factors which affects the dynamic performance of the model, including stiffness of the torsion spring, touchdown angle, touchdown speed, and landing angle. In addition, the return map was utilized to check the state transition of the touchdown angle with given other three factors. The results reveal that the R-SLIP model has self-stable gaits, just like the traditional SLIP. Thus, with adequate initial conditions and system parameters, the model can run stably around the fixed point without control effort. |
| Starting Page | 21 |
| Ending Page | 26 |
| File Size | 1301672 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467325752 |
| ISSN | 21596247 |
| e-ISBN | 9781467325769 |
| DOI | 10.1109/AIM.2012.6266018 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-07-11 |
| Publisher Place | Taiwan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Springs Legged locomotion Mathematical model Dynamics Numerical models Robot kinematics |
| Content Type | Text |
| Resource Type | Article |
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