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It is outstanding that a rimless wheel (RW) needs actuators to walk on the level ground. There is the primary test hard to discover an appropriate control framework to accomplish a stable RW movement. There is the model of the eight-legged underactuated rimless wheel with the middle. To start with, we created 4-DOF numerical model of an underactuated rimless wheel (URW) and figured the condition of movement as per the Lagrange's technique. We likewise perform numerical recreations utilizing the model created and demonstrate that a steady stride can be produced with the appropriate introductory condition and physical parameters. The numerical recreations demonstrate that, by embracing this control framework, the URW with middle can walk steadily on level ground, and the URW can be driven with an extensive variety of speed and high productivity by changing the control parameter.
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