Modeling and control of underactuated rimless wheel for walking over quagmire

This paper investigates modeling and control of an underactuated limit-cycle walker for escaping from the quagmire. First, we introduce an underactuated rimless wheel model and develop the equations of motion and collision according to the phase sequence. Second, we design a method for generating a few steps walking motion based on collisionless limit cycle walking. The robot is then controlled from the initial static state to the terminal one including the impulsive effects and the influence of the reaction force from the quagmire. The fundamental properties of the generated motion are discussed through numerical simulations.