Title :
Dynamics and generation of gaits for a planar rollerblader
Author :
Chitta, Sachin ; Kumar, Vijay
Author_Institution :
Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA
Abstract :
We develop the dynamic model for a planar rollerblader. The robot consists of a rigid platform and two planar, two degree-of-freedom legs with in-line skates at the foot. The dynamic model consists of two unicycles coupled through the rigid body dynamics of the planar platform. We derive the Lagrangian reduction for the rollerblading robot. We show the generation of some simple gaits that allow the platform to move forward and rotate by using cyclic motions of the two legs.
Keywords :
legged locomotion; reduced order systems; robot dynamics; Lagrangian reduction; gait dynamics; gait generation; in-line skates; planar platform; planar rollerblader; rigid body dynamics; rollerblading robot; unicycles; Geometry; Laboratories; Lagrangian functions; Leg; Mechanical engineering; Orbital robotics; Pneumatic actuators; Robot sensing systems; Robotics and automation; Shape control;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1250737
