Dynamics of mobile legs suspended from wire

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Abstract

This paper analyzes the dynamics of a mobile robot equipped with legs by which it walks suspended from cables. A linkage mechanism creates a gait kinematically which causes the robot legs to touch the cable path at intervals. Precise leg design enables the robot to walk parallel to the path at an approximately constant speed even while avoiding obstacles. Direct dynamic analysis is used to formulate the equation of motion of the mobile legs using Lagrange's method. Inverse dynamic analysis provides the required motor torque for feedforward control to keep robot speed ultimately constant. The robot behavior is evaluated by both computer simulations and experiments.

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