cs.ROApr 13, 2026

Modeling, Analysis and Activation of Planar Viscoelastically-combined Rimless Wheels

Authors: Fumihiko Asano, Yuxuan Xiang, Yanqiu Zheng, Cong Yan

Organizations: School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan

Read PDF
Ask AI
Cite

Copy citation

DOINot available for this paper

Abstract

This paper proposes novel passive-dynamic walkers formed by two cross-shaped frames and eight viscoelastic elements. Since it is a combination of two four-legged rimless wheels via viscoelastic elements, we call it viscoelastically-combined rimless wheel (VCRW). Two types of VCRWs consisting of different cross-shaped frames are introduced; one is formed by combining two Greek-cross-shaped frames (VCRW1), and the other is formed by combining two-link cross-shaped frames that can rotate freely around the central axis (VCRW2). First, we describe the model assumptions and equations of motion and collision. Second, we numerically analyze the basic gait properties of passive dynamic walking. Furthermore, we consider an activation of VCRW2 for generating a stable level gait, and discuss the significance of the study as a novel walking support device.

Figures & tables

Fig. 1: Passive-dynamic and limit-cycle walker models formed by two cross-shaped frames and eight viscoelastic elements
Fig. 2: Simulation results of passive dynamic walking of VCRW1
m1=m2=m3=m4m_{1}=m_{2}=m_{3}=m_{4}1.0kg
a1=a2=a3=a4a_{1}=a_{2}=a_{3}=a_{4}0.15m
b1=b2=b3=b4b_{1}=b_{2}=b_{3}=b_{4}0.25m
L1=L2=L3=L4L_{1}=L_{2}=L_{3}=L_{4}0.3m
kk200N/m
cc10N ⋅\cdot s/m
L0L_{0}0.1m
TABLE I: Physical parameters for VCRW1 and VCRW2
Fig. 3: Simulation results of passive dynamic walking of VCRW2
Fig. 4: Gait descriptors versus slope for eight values of bib_{i} in passive dynamic walking of VCRW1
Fig. 5: Gait descriptors versus slope for eight values of bib_{i} in passive dynamic walking of VCRW2
Fig. 6: Simulation results of limit cycle walking on level ground of VCRW3
Fig. 7: Evolution of gait descriptors in limit cycle walking on level ground
Fig. 8: Stick diagram for generated level gait in Fig. 2
More in this topic

Robot Locomotion

Robot locomotion studies how robots move efficiently and reliably across varied terrains, environments, and movement modes.

See all 233 papers

Explore similar work

CardsList

  1. Stability Principle Underlying Passive Dynamic Walking of Rimless Wheel

    Apr 15, 2026Fumihiko AsanoRobot LocomotionLyapunov Stability

    School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan

  2. Dynamics, stability, and energy efficiency of an energy-recycling rimless wheel with spring-clutch legs

    Jun 20, 2026Tongchen Lin, Yanqiu Zheng, Chuhan Zhang +3Legged RoboticsMechanism Design

    Department of Mechanical Engineering and Robotics, Guangdong Technion-Israel Institute of Technology, Shantou, China. · Department of Applied Electronics, Faculty of Advanced Engineering, Tokyo University of Science, Tokyo, Japan. · Tongchen Lin, Chuhan Zhang, Ruigang Chen, Yizhar Or, and Mingyi Liu: Faculty of Mechanical Engineering, Technion-Israel Institute of Technology, Haifa, Israel.

  3. Dynamic Modeling and Robust Gait Optimization of a Compliant Worm Robot

    Apr 13, 2026Xinyu Zhou, Yu Mei, Faith Thomson +3Robot LocomotionEnergy-Efficient Robot Locomotion

    Michigan State University, East Lansing, MI 48824 USA