Modeling, control and analysis of limit cycle walking on slippery road surface

摘要

This paper investigates the feasibility and fundamental gait properties of active and passive limit-cycle walkers that walk on slippery road surface. First, we introduce the model of an underactuated spoked walker with a torso and mathematically analyze the collision model on the assumption of sliding contact with the ground to identify the condition for achieving instantaneous stance-leg exchange. Second, we develop the equation of motion incorporating sliding friction acting on the stance-leg-end and numerically show that the walker can generate a stable walking gait by applying a simple control of the torso. Furthermore, we discuss the case of passive dynamic walking on slippery slope using the same model but without considering the torso dynamics.