Abstract
The dynamic equation of limit-cycle walkers is generally modeled according to Lagrange's method and we can almost exactly reproduce the walking motion by performing numerical simulations. In real walkers, however, there is a significant effect of micro vibration the metal body frame generates and we should not ignore it to precisely understand the gait properties. To model the effect of the dominant vibration of the body frame, in this paper we propose an approach based on an inputoutput linearization. We consider a combined rimless wheel with a wobbling mass and develop the wobbling dynamics being unaffected by the leg motion. Through numerical simulations, we show that the dominant micro vibration of the body frame causes highly-complex behavior according to the initial angular velocity, damping coefficient, and spring characteristic.
