For a typical biologically inspired multi-segmental mechanical system, the system’s locomotion behavior is rectified from the segments’ rhythmic oscillation. A central pattern generator (CPG) based controller has been developed to achieve the locomotion with a certain sense of natural oscillation. We designed and manufactured a prototype mechanical rectifier (PMR) system which captures the essential mechanism of multi-segmental systems. Experiments were conducted on the PMR system to reveal the effectiveness of the natural oscillation entrainment controller.
18th World Congress of the International Federation of Automatic Control (IFAC 2011). IFAC 18th World Congress, 2011: Proceedings (Milano, Italy August 28 - September 2, 2011) p. 13764-13769