@inproceedings{2dc0776de59f4f939d32f827180e60ea,
title = "Running model for a compliant wheel-leg hybrid mobile robot by using a mass-spring model",
abstract = "This research presents a running model for a compliant wheel-leg hybrid mobile robot. A wheel-leg consists of three legs arranged by 120 degrees to each other and passive compliant joints. For simplicity, each leg is treated as a linear spring such that a traditional mass-spring model can be applied to model running of the wheel-leg hybrid robot. In order to achieve stable running, we propose a simple controller that can converge a robot leg to a desired angle of attack asymptotically during the swing phase. Hybrid wheel-leg running is then simulated and results are discussed.",
keywords = "Mass-spring model, Passive compliant joints, Running, Wheel-leg hybrid mobile robot",
author = "Youngshik Kim and Shin, \{Dong Hwan\} and Kwon, \{Oh Seok\} and Jinung An",
year = "2012",
doi = "10.4028/www.scientific.net/AMM.110-116.2762",
language = "English",
isbn = "9783037852620",
series = "Applied Mechanics and Materials",
pages = "2762--2767",
booktitle = "Mechanical and Aerospace Engineering",
note = "2nd International Conference on Mechanical and Aerospace Engineering, ICMAE 2011 ; Conference date: 29-07-2011 Through 31-07-2011",
}