Abstract
The rimless wheel mechanism is an important basic model for studying passive dynamic walking, which provides a direct reference for the realization of a stable and efficient anthropomorphic gait. However, the simplification of model parameters such as motion dimensions has weakened this reference. This paper specifically studies the motion behavior of an Asymmetric Spatial Rimless Wheel (ASRW) on a spatial slope. For different motion phases of the ASRW in the periodic motion process, the dynamic model is established in Cartesian space. And the Poincare map method is used to numerically solve the fixed points of the stride function. The dynamic model obtained in this paper can more realistically reflect the similarity of motion behavior and gait characteristics between the rimless wheel and the human body. The correctness of modeling and calculation is verified by simulation. Moreover, the limit analysis also shows that the ASRW provides a bridge connecting the biped walking model and the rolling motion model.
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Yu, J., Jia, W., Sun, Y., Ma, S., Yuan, J., Zhan, Q. (2021). Modeling of Passive Dynamic Walking Behavior of the Asymmetric Spatial Rimless Wheel on Slope. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_44
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