Abstract
In this paper, the stability of the rimless wheel with the telescopic legs (RW) and the compass-like biped robot (CBR) with the telescopic legs is investigated. The locomotion of RW and CBR is generated by controlling the telescopic legs and hip joint angle. The linearized equations of motion of RW and CBR are approximately rewritten as the linear time-varying system, and the transition equations of RW and CBR are derived. The effects of the control parameters on the stability of RW and CBR are investigated. It is found from numerical results that locomotion of RW and CBR becomes stable as extention and contraction distance and settling time of the telescopic legs increase.
