Simplified models of limit-cycle walking on flat terrain have provided important insights into the nature of legged locomotion. Real walking robots (and humans), however, do not exhibit true limit cycle dynamics because terrain, even in a carefully designed laboratory setting, is inevitably non-flat. Walking systems on stochastically rough terrain may not satisfy strict conditions for limit-cyc...

This paper proposes a novel method for generating a dynamic gait based on anterior-posterior asymmetric impact posture tilting the robot’s center of mass forward. The primary purpose of this method is to asymmetrize the impact posture by actuating the robot’s telescopic-legs to make overcoming the potential barrier at mid-stance easy, and the mechanical energy is accordingly restored. First, we...

A rimless wheel or a without rim, is the simplest example of legged robot and an ideal testbed to understand mechanics locomotion. This paper presents design, modeling, control differential drive that achieves straight-line movement turning. The design comprises central axis with two 10-spoked springy wheels on either side body houses electronics, motors, transmission, computers, batteries. To ...

Passive dynamic bipeds were first studied by McGeer (McGeer, 1990) as inspired by a bipedal toy described in (McMahon, 1984). Passive dynamic walkers can walk down a shallow slope without actuators and controllers(McGeer, 1990; 1993). McGeer has built passive walkers that exhibit steady motion using a Poincaré map, which he called as a stride function, to analyze the gaits(McGeer, 1990; 1993). ...

We refine and advance a notion of parallel composition to achieve for the first time a stability proof and empirical demonstration of a steady-state gait on a highly coupled 3DOF legged platform controlled by two simple (decoupled) feedback laws that provably stabilize in isolation two simple 1DOF mechanical subsystems. Specifically, we stabilize a limit cycle on a tailed monoped to excite sust...

Plus-sizing, or the fitting of larger diameter rims and lower profile tires to vehicles, continues to be a significant commercial force in the tire marketplace. When offering plus-size fitments to customers, many sellers simply offer “what fits” on a given vehicle. However, the various choices made by the seller, such as wheel width, wheel offset, inflation pressure, and so on, have the potenti...

tillage and press wheel weight play an important role in seedling emergence, crop establishment and growth. an optimal combination of tillage implements and suitable press wheel weights should increase grain yield. this study investigated the effect of tillage systems and press wheel weights on dry land wheat (triticum aestivum l.) seedling emergence and grain yields in izeh, khuzestan province...