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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:
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Collection:
Convergence Research Center for Future Automotive Technology2. Conference Papers
Convergence Research Center for Wellness2. Conference Papers


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