This Article Full Text (OnlineFirst PDF) Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via Scopus Google Scholar Articles by Smith, J. A. Articles by Sharf, I. Social Bookmarking                         What's this?

Bounding With Active Wheels and Liftoff Angle Velocity Adjustment

¹ Department of Electrical and Computer Engineering, Ryerson University, Toronto, ON, Canada
² Department of Mechanical and Aerospace Engineering, Princeton University, Princeton NJ, USA
³ Defence R&D Canada - Suffield, AB, Canada
⁴ Centre for Intelligent Machines, McGill University, Montreal, QC, Canada

^* To whom correspondence should be addressed. E-mail: jasmith{at}ee.ryerson.ca.

	Abstract

The bounding gait for the Platform for Ambulating Wheels (PAW), a new and unique hybrid wheeled–leg system is presented. Two hypotheses are tested and discussed: first, that the robot's forward speed can be increased by increasing the leg liftoff angles and, second, that the addition of distally mounted actuated wheels can be used in running gaits such as the bound. Both hypotheses were tested experimentally and found to be valid.

First published on June 17, 2009
The International Journal of Robotics Research 2009, doi:10.1177/0278364909336807


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?