Oscillation, orientation, and locomotion of underactuated multilink mechanical systems

Title: Oscillation, orientation, and locomotion of underactuated multilink mechanical systems
Creator: Zhu, Lijun; Chen, Zhiyong; Iwasaki, Tetsuya
Relation: IEEE Transactions on Control Systems Technology Vol. 21, Issue 5, p. 1537-1548
Publisher Link: http://dx.doi.org/10.1109/tcst.2012.2213089
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2013
Description: We consider a class of multilink mechanical systems arising from undulatory locomotion of multisegmental slender animals. All the body joints are assumed to have actuators, but the system is underactuated because of the lack of direct control over the position and orientation within the inertial frame. Yet, the system is controllable through interactive forces from the environment, just like in animal locomotion. It is systematically revealed that the motion behavior is composed of three fundamental actions: 1) oscillation; 2) orientation; and 3) locomotion. Through rigorous theoretical analyses and numerical simulations, feedback laws are developed to achieve effective control for the aforementioned three actions, exploiting the natural dynamics of body-environment interactions.
Subject: locomotion; natural oscillation; neuronal control; robotics; underactuated systems
Identifier: http://hdl.handle.net/1959.13/1066762
Identifier: uon:18216
Identifier: ISSN:1063-6536
Language: eng
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