Abstract
A dynamic skating method by cyclic leg extension and contraction is improved by introduction of dwell time to the leg extension trajectory. 7th order polynomial function is used to have dwell time without discontinuity. Swing motions in frontal plane are simulated based on an equation of motion of inverted pendulum and a condition of conservation of angular momentum at collision by switching support leg. And it is shown that limit cycles exist various cycle of leg extension while phase at switching support leg changes to match inverted pendulum motion period to cyclic input period. With dwell time, limit cycle exists for longer cyclic leg extension period and it is expected to lead longer skate distance for one step.
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