Dynamic analysis of the biped ice-skater robot of passive wheel type |
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| Authors: | Zi-li Xu Tian-sheng Lü Hua Tian Zhen-hua Xu Li-bo Song |
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| Affiliation: | 1. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China
2. Hewlett-Packard Technology Shanghai Co.Ltd., Shanghai 200131, China |
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| Abstract: | A new passive wheel type of biped ice-skater robot (BISR) subjected to nonholonomic constraints was presented on the basis of ice-skating principle. Its motion principle and construction were discussed. After the model was simplified and the coordinate systems were established, the motion differential equations of the robot were obtained with the generalized Lagrange-Maggi equation when the nonholonomic constraints existed. Actual examples were given and the result was simulated on computer. |
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| Keywords: | biped ice-skater robot dynamics nonholonomic constraint Maggi equation |
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