Multi-link mechanical locomotors in natural gaits - controller design and experiments

Title: Multi-link mechanical locomotors in natural gaits - controller design and experiments
Creator: Islam, Md Nurul; Chen, Zhiyong
Relation: 2013 American Control Conference (ACC). Proccedings from the 2013 American Control Conference (Washington, DC 17-19 June, 2013) p. 6480-6485
Relation: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6580855&tag=1
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2013
Description: Recently, a so-called natural oscillation gait was studied for multi-link systems and a class of biologically inspired controllers was designed for the achievement of the gait. In this paper, the theoretical design is applied on a mechanical multi-link testbed of two posture configurations in rayfish-like flapping-wing motion and snake-like serpentine motion. The effectiveness of the design is cross examined by theoretical analysis, numerical simulation, and experiments.
Subject: robotics; biologically inspired control; locomotion; central pattern generator
Identifier: http://hdl.handle.net/1959.13/1293860
Identifier: uon:18692
Identifier: ISBN:9781479901784
Language: eng
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