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Experimental Gait Analysis of Waveboard Locomotion

[+] Author Affiliations
Ayush Agrawal, Hesham M. Zaini, Tony Dear, Howie Choset

Carnegie Mellon University, Pittsburgh, PA

Paper No. DSCC2016-9923, pp. V002T22A011; 10 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME


Through modeling and experimentation, we analyze common gaits on a waveboard, an underactuated mechanical system whose motion is governed by both nonholonomic constraints and momentum conservation. We take advantage of the system’s symmetries to derive a reduced system model that differentiates between kinematic and dynamic components of motion. We evaluate this model using marker trajectory data gathered through an optical tracking system for various types of gaits. By extracting relevant trajectory parameters via state reconstruction and fitting our joint variables to an ellipse, we determine the kinematic components of gaits commonly used by human riders. In particular, we demonstrate that traditional forward motion is purely dynamic, while sustained turning motion contains kinematic components. In order to validate our model, we compare experimentally obtained trajectories with reconstructed displacements based on the model. Finally, we suggest an approach for further analysis of the dynamic components of these gaits.

Copyright © 2016 by ASME



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