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An approximate decoupled dynamics and kinematics analysis of legless locomotion

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dc.creator Balasubramanian, Ravi
dc.creator Rizzi, Alfred A.
dc.creator Mason, Matthew T.
dc.date.accessioned 2012-10-09T22:43:40Z
dc.date.available 2012-10-09T22:43:40Z
dc.date.issued 2012-02
dc.identifier.citation Balasubramanian, R., Rizzi, A., & Mason, M. (2012). An approximate decoupled dynamics and kinematics analysis of legless locomotion. NONLINEAR DYNAMICS, 67(3), 2123-2138. doi: 10.1007/s11071-011-0134-z en_US
dc.identifier.uri http://hdl.handle.net/1957/34294
dc.description This is the author's peer-reviewed final manuscript, as accepted by the publisher. The published article is copyrighted by Springer and can be found at: http://www.springer.com/materials/mechanics/journal/11071. en_US
dc.description.abstract We present a novel analysis technique to understand the dynamics of a recently described locomotion mode called legless locomotion. Legless locomotion is a locomotion mode available to a legged robot when it becomes high-centered, that is, when its legs do not touch the ground. Under these conditions, the robot may still locomote in the plane by swinging its legs in the air, rocking on its body, and taking advantage of the nonholonomic contact constraints. Legless locomotion is unique from all previously studied locomotion modes, since it combines the effect of oscillations due to controls and gravity, nonholonomic contact constraints, and a configuration-dependent inertia. This complex interaction of phenomena makes dynamics analysis and motion planning difficult, and our proposed analysis technique simplifies the problem by decoupling the robot’s oscillatory rotational dynamics from its contact kinematics and also decoupling the dynamics along each axis. We show that the decoupled dynamics models are significantly simpler, provide a good approximation of the motion, and offer insight into the robot’s dynamics. Finally, we show how the decoupled models help in motion planning for legless locomotion. en_US
dc.language.iso en_US en_US
dc.publisher Springer en_US
dc.relation.ispartofseries Nonlinear Dynamics en_US
dc.relation.ispartofseries Vol. 67 no.3 en_US
dc.subject Dynamics approximation en_US
dc.subject Kinematics approximation en_US
dc.subject Robotic locomotion en_US
dc.subject Nonholonomic constraints en_US
dc.title An approximate decoupled dynamics and kinematics analysis of legless locomotion en_US
dc.type Article en_US
dc.description.peerreview yes en_US
dc.identifier.doi 10.1007/s11071-011-0134-z


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