Abstract
This paper investigates efficiency of passive dynamic walking of a combined rimless wheel (CRW) that consists of two identical 8-legged rimless wheels. We derive the mathematical equations of the CRW and conduct numerical simulations to examine that a stable passive gait can be generated in the presence of the phase difference between fore and hind legs. We then numerically show that the phase difference improves the gait efficiency in terms of walking speed, and discuss the inherent speeding-up mechanism from the potential barrier point of view. Furthermore, the validity of the derived results is evaluated by using an experimental machine.
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