305 Gait Generation for Crutches-Type Walking Robot
Details
We select three-legged robot to study passive walk. The robot consists of one leg and one pair of crutches. Leg has a knee joint and an ankle joint. The model of this robot is similar to biped robot in the lateral plane. First, the robot land crutches to the ground and then swing its leg forward. In crutches support phase, the robot behavior is passively because crutch tips are passive joints. Therefore angular velocity at the beginning of crutches support phase decide crutch tip trajectory throughout that phase. This research describes angular momentum condition to achieve continuous walk on level ground and apply to the actual crutches-type walking robot.
