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- W2997020520 abstract "This paper proposes a new model of an underactuated rimless wheel (URW) that added a reaction wheel for easily generating a non-slippery stealth walking gait. First, we introduce a 3-DOF URW model that can utilize two control torques, and describe the equation of motion. Second, we develop a controller for achieving strict output-following control of the stance-leg angle and angular momentum constraint control simultaneously. Third, we derive an approximate analytical solution of the target initial states of the upper body and reaction wheel. Furthermore, we propose a simple numerical procedure for identifying the target initial state of the nonlinear model, and investigate the effectiveness through numerical simulations." @default.
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- W2997020520 date "2019-01-01" @default.
- W2997020520 modified "2023-09-25" @default.
- W2997020520 title "Generation of Stealth Walking Gait on Frictionless Level Surface Utilizing Upper Body and Reaction Wheel" @default.
- W2997020520 doi "https://doi.org/10.1299/jsmermd.2019.1a1-o01" @default.
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