Model-based dynamic gait generation for a leg-wheel transformable robot

@article{Lin2015ModelbasedDG,
  title={Model-based dynamic gait generation for a leg-wheel transformable robot},
  author={Hung-Sheng Lin and Wei-Hsi Chen and Pei-Chun Lin},
  journal={2015 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2015},
  pages={5184-5190}
}
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 trajectories of the model. Two strategies are developed to… CONTINUE READING