| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 492873 | Procedia Technology | 2014 | 7 Pages |
Abstract
The ability to turn is an essential feature for biped walkers to move around obstacles. This study is aimed at extending passive walking concept for curved walking and turning to generate more natural and effective motion. Hence three-dimensional (3D) motion of rimless spoked-wheel as the simplest walking model on a slope surface and about a general vertical fixed coordinate system has been analyzed. Several simulation results has been presented and shown that there are various passive turning motions with asymptotical stability for this system. In addition, the value of the passive turning is shown to be strictly concerned to the value of the initial perturbed condition, for instance, to the initial inclination of the wheel.
Related Topics
Physical Sciences and Engineering
Computer Science
Computer Science (General)
