Investigations on Dynamics and Control of a Rimless Wheel Based 2D Dynamics Walker using Pulsed Torque Actuation

Investigations on Dynamics and Control of a Rimless Wheel Based 2D Dynamics Walker using Pulsed Torque Actuation

Wheeled systems are energy efficient on prepared surfaces like roads and tracks. Legged systems are capable of traversing different terrains but can be lossy. At low speeds and on off-road surfaces, legged systems using dynamic walking can be energy efficient. Towards this objective, the dynamics of...

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Bibliographic Details
Main Author: Patnaik, Lalit
Other Authors: Umanand, L
Language:en_US
Published: 2018
Subjects:
Rimless Wheel Based 2D Dynamics Walker
Rimless-Spoked-Wheel Based Mobile Robot (Chatur)
Pulsed Torque Actuators
Walking Models
Walking
Dynamic Walking
Inverted Pendulum Walker
Torque Regimes
Pulsed Torque Actuation
Actuated Dynamic Walker
Jansen Leg
Bondgraphs
Electronic Systems Engineering
Online Access:http://etd.iisc.ernet.in/2005/3517
http://etd.iisc.ernet.in/abstracts/4384/G26730-Abs.pdf

Internet

http://etd.iisc.ernet.in/2005/3517
http://etd.iisc.ernet.in/abstracts/4384/G26730-Abs.pdf

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