Wheel spider with rolling locomotion: Modeling and simulation

Author

Nemoto, Takuma ; Elara, Mohan Rajesh ; Nansai, Shunsuke ; Iwase, Masami

Author_Institution

Tokyo Denki Univ., Tokyo, Japan

fYear

2015

fDate

17-19 Feb. 2015

Firstpage

337

Lastpage

342

Abstract

This study aims to develop mathematical model which can capture behavior of “wheel spider” that can perform rolling locomotion and analyze characteristics of the behavior to realize biologically inspired locomotion by robots. Therefore, a rolling wheel spider model is developed by applying constraint force on the ground to a wheel spider model without the ground and considering velocity transformation due to collision. As a result, it was found that the wheel spider goes downhill at a constant speed with rolling whether it is provided with initial velocity or not. In conclusion, the wheel spider can go down the slope over a certain pitch without providing initial velocity.

Keywords

collision avoidance; legged locomotion; mathematical analysis; motion control; pitch control (position); velocity control; behavior characteristics; biologically inspired robot locomotion; collision; constant speed; constraint force; mathematical model; pitch; rolling locomotion; rolling wheel spider model; velocity transformation; wheel spider behavior; Analytical models; Force; Legged locomotion; Mathematical model; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation, Robotics and Applications (ICARA), 2015 6th International Conference on

Conference_Location

Queenstown

Type

conf

DOI

10.1109/ICARA.2015.7081170

Filename

7081170