Abstract
This paper discusses the possibility of stable skipping gait generation of an underactuated rimless wheel with a torso on a slippery road surface. First, we develop the equations of motion and collision considering the effect of sliding frictional force acting on the contact point, and consider an output following control for gaining propulsive force and jumping power. Second, we numerically show that the model can generate a stable skipping gait by choosing the desired settling time sufficiently short. Furthermore, we conduct gait analysis to observe how the gait descriptors change according to the physical and control parameters such as frictional coefficient and desired settling time.
