Cited 0 time in webofscience Cited 1 time in scopus

Running model for a compliant wheel-leg hybrid mobile robot by using a mass-spring model

Title
Running model for a compliant wheel-leg hybrid mobile robot by using a mass-spring model
Authors
Kim, Young ShikShin, Dong HwanKwon, Oh SeokAn, Jin Ung
DGIST Authors
Kim, Young Shik; Shin, Dong HwanKwon, Oh SeokAn, Jin Ung
Issue Date
2012
Citation
2nd International Conference on Mechanical and Aerospace Engineering, ICMAE 2011, 110-116, 2762-2767
Type
Conference
Article Type
Conference Paper
ISBN
9780000000000
ISSN
1660-9336
Abstract
This research presents a running model for a compliant wheel-leg hybrid mobile robot. A wheel-leg consists of three legs arranged by 120 degrees to each other and passive compliant joints. For simplicity, each leg is treated as a linear spring such that a traditional mass-spring model can be applied to model running of the wheel-leg hybrid robot. In order to achieve stable running, we propose a simple controller that can converge a robot leg to a desired angle of attack asymptotically during the swing phase. Hybrid wheel-leg running is then simulated and results are discussed. © (2012) Trans Tech Publications, Switzerland.
URI
http://hdl.handle.net/20.500.11750/1800
DOI
10.4028/www.scientific.net/AMM.110-116.2762
Publisher
Trans Tech Publications Ltd.
Related Researcher
Files:
There are no files associated with this item.
Collection:
ETC2. Conference Papers
Convergence Research Center for Wellness2. Conference Papers
Division of IoT∙Robotics Convergence Research2. Conference Papers


qrcode mendeley

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE