Modeling, Analysis and Activation of Planar Viscoelastically-combined Rimless Wheels

2026-04-13

AI Summary

This study addresses the limitations in stability and efficiency of passive dynamic walking by proposing a novel viscoelastically coupled passive walker (VCRW), comprising two cross-shaped frames and eight viscoelastic elements. It introduces, for the first time, a viscoelastic coupling mechanism into a multi-legged wheeled passive walking system. The authors develop a multibody dynamics and impact model to analyze fundamental gait characteristics. Building upon this, they design an actively driven variant, VCRW2, featuring freely rotating joints and integrated with an active control strategy, which successfully achieves stable level-ground locomotion. This work establishes a new structural paradigm and theoretical foundation for high-performance assistive walking devices.

Technology Category

• Intelligent Robots: Motion and Path Planning
• Computer Vision: Low Level & Physics-based Vision
• Cognitive Modeling & Cognitive Systems: Computational Creativity

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs
• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments

Abstract

This paper proposes novel passive-dynamic walkers formed by two cross-shaped frames and eight viscoelastic elements. Since it is a combination of two four-legged rimless wheels via viscoelastic elements, we call it viscoelastically-combined rimless wheel (VCRW). Two types of VCRWs consisting of different cross-shaped frames are introduced; one is formed by combining two Greek-cross-shaped frames (VCRW1), and the other is formed by combining two-link cross-shaped frames that can rotate freely around the central axis (VCRW2). First, we describe the model assumptions and equations of motion and collision. Second, we numerically analyze the basic gait properties of passive dynamic walking. Furthermore, we consider an activation of VCRW2 for generating a stable level gait, and discuss the significance of the study as a novel walking support device.

Problem

• passive-dynamic walking
• viscoelastic elements
• rimless wheel
• gait stability
• walking support device

Innovation

• viscoelastically-combined rimless wheel
• passive dynamic walking
• gait stabilization
• viscoelastic coupling
• walking support device