Eight Legs Rimless Wheel Robot Model Driven on Level Ground Using one actuator
نویسندگان
چکیده
منابع مشابه
A One Wheel Flying Robot
Recent advances in technology have lead to growing interest in robotic application. More recently, a growing interest in unmanned aerial vehicles (UAVs) has been shown among the research community. Being able to design a vertical takeoff and landing (VTOL)-UAV, which is highly maneuverable and extremely stable, is an important contribution in the field of aerial robotics since potential applica...
متن کاملNumerical Simulation for the Rimless Wheel
We first examine the single stance state. In this situation, it is convenient to first analyze the system as a whole. As shown in Fig. 2, the system experiences gravity, the normal force, and the friction force. From Newton’s second law, the equation of motion for the system can be written as ∑ Fx = (m1 +m2)ax, (1) ∑ Fy = (m1 +m2)ay, (2) FIG. 2. The free body diagram for the system in single st...
متن کاملDynamic Analysis of a Rimless Wheel on Randomly Generated Rough Terrain
Some modern walking robots are capable of walking over very rough terrain. However, these robots often require significantly more energy to do so than a human. Passive-dynamic walking robots are often quite energy-efficient, but are usually only able to walk over smooth surfaces. In this work, we examine the dynamics of a 2D rimless wheel, an often studied simple model for walking. This paper a...
متن کاملLyapunov-based versus Poincaré map analysis of the rimless wheel
Hybrids systems are combinations of continuous and discrete systems. The bouncing ball is an extensively studied hybrid system, for which many solid Lyapunov-based tools are now available. Toward applying these tools to walking robots, where a hybrid dynamical system framework is also a natural fit, the rimless wheel provides a salient dynamic model because it shares commonalities with both bou...
متن کاملOn Model-driven Design of Robot Software using Co-simulation
In this paper we show that using co-simulation for robot software design will be more efficient than without co-simulation. We will show an example of the plotter how the co-simulation is helping with the design process. We believe that a collaborative methodology based on model-driven design will improve the chances of closing the design loop early, improving cross-discipline design dialog, an...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Machine Learning and Networked Collaborative Engineering
سال: 2018
ISSN: 2581-3242
DOI: 10.30991/ijmlnce.2018v02i01.001