Open AccessWalking wheel
Author(s) -
В. В. Лапшин
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1705/1/012028
Subject(s) - angular velocity , motion (physics) , inclined plane , nonlinear system , physics , plane (geometry) , dynamics (music) , surface (topology) , control theory (sociology) , classical mechanics , computer science , mathematics , geometry , acoustics , artificial intelligence , control (management) , quantum mechanics
The dynamics of a 2D walking wheel motion down an inclined plane is analytically investigated in nonlinear formulation. It is the simplest model of a bipedal walking. The possible cases of the motion of the walking wheel are investigated at various values of the inclination of the support surface and the initial angular velocity of the wheel. It is shown that various modes of motion of the walking wheel are possible. The most interesting of which is the existence of a stable periodic solution (self-oscillations).