Autonomous locomotion of multi-link mechanical systems via natural oscillation pattern

Title: Autonomous locomotion of multi-link mechanical systems via natural oscillation pattern
Creator: Chen, Zhiyong; Zhu, Lijun; Iwasaki, Tetsuya
Relation: 49th IEEE Conference on Decision and Control (CDC 2010). Proceedings of the 49th IEEE Conference on Decision and Control (Atlanta, GA 15-17 December, 2010) p. 6034-6039
Publisher Link: http://dx.doi.org/10.1109/CDC.2010.5717927
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2010
Description: We consider a class of mechanical systems arising from the dynamics of multi-segmental animal locomotion. Our earlier paper has revealed that a chain of body segments oscillate in a natural mode if the head is externally forced to move at a constant velocity and the damping effect is reduced by an appropriate amount. In this paper, we further show that the natural oscillations, in turn, generate a stable forward velocity (of the head) through a rectification mechanism. As a result, an autonomous locomotion behavior is obtained.
Subject: oscillations; autonomous vehicles; locomotion; neuronal control; robotics
Identifier: http://hdl.handle.net/1959.13/933172
Identifier: uon:11559
Identifier: ISBN:9781424477456
Identifier: ISSN:0743-1546
Language: eng
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