Dynamics and Nonlinearity of Combined Elastic Rimless Wheels with Bionic Control

The dynamics and nonlinearity of combined elastic rimless wheels(CERW) walking semi-passively along an inclined plane with bionic control is studied in this work. First, the dynamic model of CERW is established using the Lagrange method. Drawing inspiration from the visceral vibrations of animals during running, a bionic control system is designed to achieve cyclic walking in CERW. Finally, based on the derived dynamic model and bionic control system, simulation experiments are conducted to analyze the typical gaits and nonlinear phenomena of CERW under bionic control. The study focuses on nonlinear behaviors in the relationship between the oscillation frequency of telescopic masses and CERW walking frequency with bionic control, including phenomena like synchronization and bifurcation.