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A study of gait and flywheel torque effect on legged machines using a dynamic compliant joint model

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2 Author(s)
Liang Shih ; Eastman Kodak Company, Rochester, NY, USA ; Frank, A.

The work described herein is an extension of the compliant joint modelling technique applied to the simulation of a walking machine which is a multi-loop mechanism with a combination of closed and open kinematic chains. The effects of leg mass and compliance, joint clearance as well as leg contact with the ground are studied. The simulation includes tripod and wave gait patterns. Gyroscopic effects of a flywheel power plant are also investigated. Complete dynamic and kinematic simulations for the Ohio State University Adaptive Suspension Vehicle (ASV) are presented.

Published in:
Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference: Mar 1987

Page(s):
527 - 532
Digital Object Identifier :
10.1109/ROBOT.1987.1088039
Product Type:
Conference Publications

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