Multi-link Mechanical Locomotors in Natural Gaits Controller Design and Experiments

被引：0
|
作者：
Islam, Md Nurul [1 ]
Chen, Zhiyong [1 ]
机构：
[1] Univ Newcastle, Sch Elect Engn & Comp Sci, Callaghan, NSW 2308, Australia
来源：
2013 AMERICAN CONTROL CONFERENCE (ACC) | 2013年
关键词：
Robotics; biologically inspired control; locomotion; central pattern generator (CPG);
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：6480 / 6485
页数：6
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