Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model
Daniel J. Gonzalez,H. Harry Asada,Daniel J. Gonzalez,H. Harry Asada
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy backpack payload. It is desirable for the Human-XRL quadruped system to walk with the rear legs lead the front by 25% of the gait period, minimizing the energy lost from foot impacts while maximizing balance stability. Unl...
