Sciweavers

Share
IROS
2006
IEEE

Bounding Gait in a Hybrid Wheeled-Leg Robot

9 years 5 months ago
Bounding Gait in a Hybrid Wheeled-Leg Robot
— This paper discusses the first implementation of a dynamically stable bounding gait on a hybrid wheeled-leg robot. Design of the robot is reviewed and the controllers which allow this mode of mobility to occur are discussed. Experimental results demonstrating the key dynamic characteristics of the gait, including footfall patterns, are given. The hypothesis that varying leg takeoff angles can lead to regulation of forward speed of the bounding gait is presented and verified. In addition, comparisons are made between the bounding gait which uses active wheel control and bounding which uses passive mechanical blocking of the wheels.
James Andrew Smith, Inna Sharf, Michael Trentini
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors James Andrew Smith, Inna Sharf, Michael Trentini
Comments (0)
books