SLIP-Model-Based Dynamic Gait Generation in a Leg-Wheel Transformable Robot With Force Control

We report on the model-based development of the pronking and trotting behaviors of a leg-wheel transformable robot. The spring-loaded inverted pendulum (SLIP) model serves as the motion template; its stable running motion is investigated, and the parameters and state conditions suitable for implemen...

Ausführliche Beschreibung

Bibliographische Detailangaben

Veröffentlicht in:	IEEE robotics and automation letters 2017-04, Vol.2 (2), p.804-810
Hauptverfasser:	Lin, Yun-Meng, Lin, Hung-Sheng, Lin, Pei-Chun
Format:	Artikel
Sprache:	eng
Schlagworte:	Dynamics Force control Legged locomotion Mathematical model mechanism design of mobile robots multilegged robots Robot kinematics Springs
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!