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Analysis of 3D Passive Walking Including Turning Motions for the Finite-width Rimless Wheel | ||
| Journal of Computational Applied Mechanics | ||
| مقاله 7، دوره 46، شماره 1، فروردین 2015، صفحه 63-68 اصل مقاله (494.11 K) | ||
| نوع مقاله: Research Paper | ||
| شناسه دیجیتال (DOI): 10.22059/jcamech.2015.53394 | ||
| نویسندگان | ||
| Amir Jaberi* 1؛ Mohammad Reza Hairi Yazdi2؛ Mohammad Reza Sabaapour3 | ||
| 1Research assistant in control laboratory | ||
| 2Associate professor, School of Mechanical Engineering, University of Tehran, Iran | ||
| 3PhD student, School of Mechanical Engineering, University of Tehran, Iran. | ||
| چکیده | ||
| The focus of studies in the field of passive walking has often been on straight walking, while less attention has been paid to the field of turning motions. In this paper, the passive motions of a finite width rimless wheel as the simplest 3D model of passive biped walkers was investigated with a focus on turning motions. For this purpose, the hybrid model of the system consisting of continuous and discontinuous phases of motion was derived with respect to a vertical fixed frame that was independent of the surface profile. A Poincaré map corresponding to a step is one of the common methods used for the determination of periodic motions (limit cycles) and their specifications. In this study, it was emphasized that the Poincaré map has only one fixed point, indicating only one stable periodic motion that is parallel to the steepest slope surface. It is also shown that if the wheel is released from an orientation other than the steepest slope, the wheel turns towards the slope surface and eventually, its motion continues on the only existing stable limit cycle (passive limited turning). The effect of variation among some parameters of the initial conditions on rotational behaviour and its convergence were investigated. | ||
| کلیدواژه‌ها | ||
| biped robot؛ finite-width rimless wheel؛ limit cycle؛ Passive walking؛ Steering؛ Turning | ||
| مراجع | ||
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[1]. McGeer, T., 1990, Passive dynamic walking, The International Journal of Robotics Reseach, 9(2), pp. 62-82. [2]. Coleman, M.J. 1998, A stability study of a three-dimensional passive dynamic model of human gait, Cornell University, PhD thesis. [3]. Coleman, M.J., Chatterjee, A. and Ruina, A., 1997, Motions of a rimless spoked wheel: a simple three-dimensional system with impacts, Dynamics and Stability of Systems, 12(3), pp. 139-159. [4]. Smith, A. C. and Berkemeier, M. D., 1998, The motion of a finite-width rimless wheel in 3D, in Robotics and Automation Proceedings IEEE International Conference, Leuven, Belgium. [5]. Sabaapour, M.R., Hairi-Yazdi, M.R. and Beigzadeh, B., 2014, Towards passive turning in biped walkers, Procedia Technology, 12, pp. 98- 104. [6]. Sabaapour, M. R., Hairi-Yazdi, M. R., and Beigzadeh, B., 2014, Passive turning motion of 3D rimless wheel: novel periodic gaits for bipedal curved walking, Submitted to Advanced Robotics. [7]. Spong, M. W., and Bullo, F., 2002, Controlled symmetries and passive walking, in in Proc. 15th Triennial World Congress.. [8]. Goswami, A., Espiau, B., and Keramane, A., 1997, Limit cycles in a passive compass gait biped and passivity-mimicking control laws, Autonomous Robots, 4(3), pp. 273-286. [9]. Shih, C., Grizzle, J.W. and Chevallereau, C., 2009, Asymptotically stable walking and steering of a 3D bipedal robot with passive point feet, IEEE Transactions on Robotics. | ||
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