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Modeling and Motion Analysis of Planar Passive-Dynamic Walker with Tensegrity Structure Formed by Four Limbs andEight Viscoelastic Elements

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Robotics for Sustainable Future (CLAWAR 2021)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 324))

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Abstract

This paper investigates modeling and stable motion generation of a planar passive-dynamic walker with a tensegrity structure formed by four rigid limbs and eight viscoelastic elements. The robot model looks a lot like the traditional one, but has a fundamentally different mechanism for connecting limbs. First, we derive the equations of motion, constraint conditions and collision. Second, we conduct numerical simulations to investigate the fundamental properties of the generated passive-dynamic gaits. The simulation results show that the addition of a small amount of viscosity significantly improves the gait stability.

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Authors and Affiliations

  1. School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa, 923-1292, Japan

    Fumihiko Asano & Yanqiu Zheng

  2. Graduate School of Science and Engineering, Ritsumeikan University, 1-1-1 Nojihigashi, Kusatsu, Shiga, 525-8577, Japan

    Longchuan Li

Authors
  1. Fumihiko Asano
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  2. Yanqiu Zheng
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  3. Longchuan Li
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Corresponding author

Correspondence to Fumihiko Asano .

Editor information

Editors and Affiliations

  1. Department of Engineering, Kwansei Gakuin University, Hyogo, Japan

    Daisuke Chugo

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  4. Chuo University, Bunkyo-ku, Tokyo, Japan

    Taro Nakamura

  5. School of Engineering, University of Lincoln, Lincolnshire, UK

    Khaled Goher

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Asano, F., Zheng, Y., Li, L. (2022). Modeling and Motion Analysis of Planar Passive-Dynamic Walker with Tensegrity Structure Formed by Four Limbs andEight Viscoelastic Elements. In: Chugo, D., Tokhi, M.O., Silva, M.F., Nakamura, T., Goher, K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_21

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