Name
Abstract | ||
|---|---|---|
This study aims to develop mathematical model which can capture behavior of “wheel spider” that can perform rolling locomotion and analyze characteristics of the behavior to realize biologically inspired locomotion by robots. Therefore, a rolling wheel spider model is developed by applying constraint force on the ground to a wheel spider model without the ground and considering velocity transformation due to collision. As a result, it was found that the wheel spider goes downhill at a constant speed with rolling whether it is provided with initial velocity or not. In conclusion, the wheel spider can go down the slope over a certain pitch without providing initial velocity. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICARA.2015.7081170 | Automation, Robotics and Applications |
Keywords | Field | DocType |
collision avoidance,legged locomotion,mathematical analysis,motion control,pitch control (position),velocity control,behavior characteristics,biologically inspired robot locomotion,collision,constant speed,constraint force,mathematical model,pitch,rolling locomotion,rolling wheel spider model,velocity transformation,wheel spider behavior,force | Wheel spider,Modeling and simulation,Computer science,Simulation,Control theory,Collision,Robot | Conference |
Citations | PageRank | References |
1 | 0.39 | 1 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Takuma Nemoto | 1 | 1 | 1.40 |
| Elara, M.R. | 2 | 6 | 2.20 |
| Shunsuke Nansai | 3 | 20 | 4.00 |
| Masami Iwase | 4 | 42 | 16.27 |