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JRM Vol.29 No.3 pp. 471-479
doi: 10.20965/jrm.2017.p0471
(2017)

Paper:

Time-Scale Control Approaches to Collisionless Walking of an Underactuated Rimless Wheel

Fumihiko Asano*, Yanqiu Zheng*, and Xuan Xiao**

*School of Information Science, Japan Advanced Institute of Science and Technology
1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan

**School of Aerospace Engineering, Tsinghua University
1 Tsinghua Yuan, Haidian District, Beijing 100084, China

Received:
December 1, 2016
Accepted:
March 7, 2017
Published:
June 20, 2017
Keywords:
gait generation, deadbeat control, collisionless walking, rimless wheel
Abstract

Time-Scale Control Approaches to Collisionless Walking of an Underactuated Rimless Wheel

Underactuated rimless wheel model for collisionless walking

In this paper, control methods for achieving collisionless walking of robotic underactuated walkers are discussed. Collisionless walking is a gait type of motion that does not cause collision during the landing of the swing-leg end. First, we introduce a simple point-footed walker and develop its motion equation. Second, we propose two time-scale output deadbeat control approaches and demonstrate mathematically their ability to generate a stable, collisionless walking gait. Overcoming potential barriers at midstance as well as the stability of zero dynamics are guaranteed accordingly. Furthermore, we investigate fundamental gait properties through numerical simulations.

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Last updated on Sep. 21, 2017