Abstract
This paper proposes a novel rimless-wheel type legged robot that can be made by adding the constraint of the rotation axis to the tensegrity structure formed by four rigid frames and eight springs. First, we introduce a planar 12-DOF robot model for passive-dynamic walking on a gentle downhill, and develop the equations of motion, constraint conditions and inelastic collision. Second, we numerically show that the generated passive-dynamic gait is not always asymptotically stable due to the variable impact posture, and that it is possible to generate a passive-dynamic gait that is faster than a normal rimless wheel by appropriately setting the spring coefficient.
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