- Title
- Natural oscillation control experiments on a prototype mechanical rectifier
- Creator
- Islam, Md Nurul; Chen, Zhiyong
- Relation
- 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
- Publisher Link
- http://dx.doi.org/10.3182/20110828-6-IT-1002.01271
- Publisher
- International Federation of Automatic Control (IFAC)
- Resource Type
- conference paper
- Date
- 2011
- Description
- 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.
- Subject
- oscillation; locomotion; robotics; neuronal control; central pattern generator
- Identifier
- http://hdl.handle.net/1959.13/934599
- Identifier
- uon:11868
- Identifier
- ISBN:9783902661937
- Language
- eng
- Full Text
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