A study of gait and flywheel torque effect on legged machines using a dynamic compliant joint model

The work described herein is an extension of the compliant joint modelling technique applied to the simulation of a walking machine which is a multi-loop mechanism with a combination of closed and open kinematic chains. The effects of leg mass and compliance, joint clearance as well as leg contact with the ground are studied. The simulation includes tripod and wave gait patterns. Gyroscopic effects of a flywheel power plant are also investigated. Complete dynamic and kinematic simulations for the Ohio State University Adaptive Suspension Vehicle (ASV) are presented.