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We present the design and control of a simple three-link underactuated synthetic wheel biped composed of a torso and two legs with arc-shaped feet. The equations of motion are derived and a controller based on feedback linearization is used to constrain the controllable degrees of freedom and develop a simple gait. Experimental results show successful gait generation and relatively good trajectory...
The design of a new biped robot is proposed. Based on the concept of a self-propelled wheel, the design eliminates vertical impact forces from the ground during walking. The biped comprises a torso and two legs. With arc-shaped feet, each leg is constrained to move in a manner that allows the robot to walk by rolling alternately on its two feet. The purpose of the torso is to generate motion through...
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