Journal of the Robotics Society of Japan
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
paper
Realization of Quadrupedal Quasi-passive Dynamic Walking Driven by Rocking Motion and Motion Analysis based on a Nonholonomic Model
Takeshi KibayashiYasuhiro SugimotoMasato IshikawaKoichi OsukaYoshiyuki Sankai
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Supplementary material

2013 Volume 31 Issue 8 Pages 730-738

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Abstract
In this paper, a quadrupedal quasi-passive dynamic walking robot driven by a rocking motion has been investigated. Experimental results show that the robot can walk on the level ground and that a walking speed is related to a period and a phase difference of the rocking motion. Through investigation of a shape of soles, we revealed Duke has a nonholonomic constraint that is comparable to that of a kinematic model of “two-wheeled mobile robot” on its sole. As a result of analyses based on the nonlinear control theory, we conclude that the sole shape contributes to a transition of walking speed accompanying with change of the phase difference.
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© 2013 The Robotics Society of Japan
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