An experimental study on motions of a planar rimless wheel

Terumasa Narukawa, Tatsuhiko Ikeda, Masaki Takahashi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

One of the most fundamental models of biped locomotion is a planar rimless wheel which captures the stance leg motion and the heel strike. In numerical simulations, it is usually assumed that the impact between the leg and the ground is instantaneous and the impact results in no rebound and no slipping. This paper presents an experimental study on motions of a planar rimless wheel to validate the assumptions used to model rimless wheels. We investigate mainly the impact phenomenon with the ground. We built experimental setup to capture the motion of a planar rimless wheel. In our experimental setup, the rimless wheel moves on a slope. The motion is captured by motion capture cameras and a high speed camera. The locations of markers at a spoke are calculated by the images of the motion capture cameras. The motion analysis clarifies the effects of the impact phenomenon.

Original languageEnglish
Title of host publication5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
PublisherInternational Federation for the Promotion of Mechanism and Machine Science (IFToMM)
Pages465-471
Number of pages7
ISBN (Electronic)9781618390882
Publication statusPublished - 2010 Jan 1
Event5th Asian Conference on Multibody Dynamics 2010, ACMD 2010 - Kyoto, Japan
Duration: 2010 Aug 232010 Aug 27

Publication series

Name5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
Volume1

Other

Other5th Asian Conference on Multibody Dynamics 2010, ACMD 2010
CountryJapan
CityKyoto
Period10/8/2310/8/27

ASJC Scopus subject areas

  • Mechanical Engineering
  • Automotive Engineering
  • Control and Systems Engineering

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  • Cite this

    Narukawa, T., Ikeda, T., & Takahashi, M. (2010). An experimental study on motions of a planar rimless wheel. In 5th Asian Conference on Multibody Dynamics 2010, ACMD 2010 (pp. 465-471). (5th Asian Conference on Multibody Dynamics 2010, ACMD 2010; Vol. 1). International Federation for the Promotion of Mechanism and Machine Science (IFToMM).