DocumentCode
3024550
Title
A study of bouncing rod dynamics aiming at passive running
Author
Miyamoto, Hiroki ; Sano, Akihito ; Ikemata, Yoshito ; Maruyama, Shintaro ; Fujimoto, Hideo
Author_Institution
Nagoya Inst. of Technol., Nagoya, Japan
fYear
2010
fDate
3-7 May 2010
Firstpage
3298
Lastpage
3303
Abstract
Passive running robot can run down shallow slope with no energy source without gravity. The robot can generate a stable limit cycle. Dynamics of passive running is very interesting target and important for developing the robot and understanding the human locomotion. By the way, running high jumper can jump very high. The point of jumping is to transfer horizontal velocity into lifting momentum through the hinged-movement. In this paper, we demonstrate the experimental passive running based on the hinged-movement. Moreover, we derive the fixed point of the passive running, and analyze its stability.
Keywords
legged locomotion; limit cycles; robot dynamics; stability; bouncing rod dynamics; hinged movement; human locomotion; passive running robot; stable limit cycle; Glass; Gravity; Humans; Legged locomotion; Limit-cycles; Robot kinematics; Robotics and automation; Springs; Stability analysis; USA Councils;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location
Anchorage, AK
ISSN
1050-4729
Print_ISBN
978-1-4244-5038-1
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2010.5509757
Filename
5509757
Link To Document