Abstract
This paper proposes a novel underactuated locomotion robot that has high stiffness and reproduces the gait property equivalent to an eight-legged rimless wheel walking on a slippery road surface. First, we describe the overview of the experimental machine we developed and its mechanical features. Second, we develop the equations of motion and collision for the ideal model with small passive rollers, and discuss the collision dynamics for stance-leg exchange with the prospect of transition to non-instantaneous double-support motion. Third, we perform numerical simulations to understand the fundamental properties of the gait rolling on a rigid road surface, and discuss its similarity to limit cycle walking on a slippery road surface.
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