- Title
- Control of natural oscillation gait for mechanical locomotors in three dimensional space
- Creator
- Zhang, Junping; Zhu, Lijun; Chen, Zhiyong
- Relation
- ARC.DP130103039 http://purl.org/au-research/grants/arc/DP130103039
- Relation
- Asian Journal of Control Vol. 18, Issue 1, p. 302-315
- Publisher Link
- http://dx.doi.org/10.1002/asjc.1030
- Publisher
- Wiley-Blackwell Publishing
- Resource Type
- journal article
- Date
- 2016
- Description
- A mechanical rectifier system is a class of multi-segmental mechanical structures whose locomotion results from the rhythmic undulation of segments. For the mechanical rectifier system consisting of multiple links in series, a biologically inspired control design approach has been proposed to study a kind of locomotion gait in natural oscillation on a plane. In this paper, the approach is further developed for more complex multi-segmental systems moving in three dimensional space. A typical example of this class of systems is the flapping-wing structure which arises from animal locomotion such as bird flying or ray swimming. Three elemental actions including oscillation, orientation, and locomotion are fully discussed in this paper in terms of theoretical analysis and numerical simulation.
- Subject
- biologically-inspired robots; underactuated robots; oscillation; locomotion; central pattern generator (CPG)
- Identifier
- http://hdl.handle.net/1959.13/1347377
- Identifier
- uon:30029
- Identifier
- ISSN:1561-8625
- Language
- eng
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