Synthesis of controllers for exact entrainment to natural oscillation

Title: Synthesis of controllers for exact entrainment to natural oscillation
Creator: Zhu, Lijun; Chen, Zhiyong; Iwasaki, Tetsuya
Relation: 8th World Congress on Intelligent Control and Automation (WCICA 2010). Proceedings of the 8th World Congress on Intelligent Control and Automation (Jinan, China 7-9 July, 2010) p. 709-713
Publisher Link: http://dx.doi.org/10.1109/WCICA.2010.5554038
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2010
Description: For a biologically inspired mechanical system consisting of multiple segments, its natural oscillation is defined as a periodic body movement pattern conforming to the dynamics inherent to the body-environment interaction, leading to an effective locomotion of the system. In the literature, a central pattern generator based controller has been designed to approximately achieve entrainment to a natural oscillation. This paper further refines the previous result by proposing a controller that achieves exact entrainment, as well as a rigorous stability analysis which leads to a complete solution to the problem of entrainment to natural oscillation.
Subject: oscillator; limit cycle; central pattern generator (CPG); locomotion
Identifier: http://hdl.handle.net/1959.13/933701
Identifier: uon:11698
Identifier: ISBN:9781424467129
Language: eng
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