Generation of Steady Wheel Gait for Planar X-shaped Walker with Reaction Wheel
Fumihiko Asano,Taiki Sedoguchi,Cong Yan,Fumihiko Asano,Taiki Sedoguchi,Cong Yan
This paper addresses the problem of realizing a novel robotic bipedal locomotion called wheel gait, which is achieved by rotating the stance and swing legs in the same direction. First, a model of a planar 3-DOF X-shaped walker with a reaction wheel is introduced, and the mathematical equations are described. Second, the condition for stabilizing zero dynamics is formulated as the time integral va...
