Generation and Motion Analysis of Stealth Walking Gait for Asymmetric Rimless Wheel Using Elasticity

Abstract

The authors have investigated the method of stealth walking for achieving stable legged locomotion on irregular terrain. In this paper, we discuss a method for generating an asymmetric stealth walking gait. First, we introduce a mathematical model of an asymmetric rimless wheel with an elastic element, and develop the control law for highly efficient walking using DODC (Discrete-time Output Deadbeat Control) based on vertical ground reaction force. Second, we derive an approximate analytical solution for an appropriate initial state of the robot based on the equation of motion of the linearized model. Third, we perform numerical simulations on the linearized model, and we extend the results to the nonlinear model. Furthermore, we perform experiments using our prototype experimental machine, and verify the validity of the proposed control law.