3 accepted papers
We report on the development of a motion generation strategy that allows the robot to transit from one stable running motion to another in one stride by actively changing leg stiffness in real time. Stable motion of the robot is generated based on the stable fixed-point trajectories of the spring-lo…
We report on the model-based development of the pronking and trotting behaviors of a leg-wheel transformable robot. The spring-loaded inverted pendulum (SLIP) model serves as the motion template; its stable running motion is investigated, and the parameters and state conditions suitable for implemen
We report on the model-based approach to dynamic trotting and pronking gait generation for a leg-wheel transformable robot. The rolling spring-loaded inverted pendulum (R-SLIP) model served as the template for robot locomotion by programming the robot's motion according to the stable fixed-point tra…