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

页码：6480 / 6485

页数：6

共 50 条

[41] Modelling flexible multi-link robots for vibration control: Numerical simulations and real-time experiments
Giorgio, Ivan
Della Corte, Alessandro
Del Vescovo, Dionisio
MATHEMATICS AND MECHANICS OF SOLIDS, 2019, 24 (01) : 52 - 71
[42] Kinematic analysis of multi-link mechanical press based on rigid-flexible coupling model
Wang, Shu-Sheng
Yao, Jing-Lin
Zhang, Xin-Guo
Zheng, Xiang
MECHANICS AND ARCHITECTURAL DESIGN, 2017, : 95 - 101
[43] DESIGN, ANALYSIS, AND OPTIMIZATION OF A NEW TWO-DOF ARTICULATED MULTI-LINK ROBOTIC TAIL
Liu, Yujiong
Ben-Tzvi, Pinhas
PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2019, VOL 5B, 2020,
[44] Elastokinematic design and optimization of the multi-link torsion axle - a novel rear axle concept for BEVs
Olschewski, Jens
Fang, Xiangfan
MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES, 2025, 53 (01) : 301 - 332
[45] 3G Multi-link Fusion Wireless Audio and Video Monitoring System Design
Gao, Bingkun
Zhang, Jin
PROCEEDINGS OF 2013 2ND INTERNATIONAL CONFERENCE ON MEASUREMENT, INFORMATION AND CONTROL (ICMIC 2013), VOLS 1 & 2, 2013, : 1196 - 1198
[46] The design of fuzzy energy regions optimized by GA for a switching control of multi-link underactuated manipulators
Izumi, Kiyotaka
Watanabe, Keigo
Ichida, Keisuke
Tachibana, Yoshihiro
2007 INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS, VOLS 1-6, 2007, : 1777 - 1782
[47] Design and modeling of an autonomous multi-link snake robot, capable of 3D-motion
Rizkallah, Rabel
Metni, Najib
Mouawad, Jessica
Saad, Ramy
2015 3RD INTERNATIONAL CONFERENCE ON CONTROL, MECHATRONICS AND AUTOMATION (ICCMA 2015), 2016, 42
[48] Scalable and Efficient Forwarding Table Design for Multi-Link Failover in OpenFlow-Enabled Networks
Thorat, Pankaj
Jeon, Seil
Raza, Syed M.
Challa, Rajesh
Choo, Hyunseung
IETE TECHNICAL REVIEW, 2017, 34 : 27 - 38
[49] Stopper Angle Design for a Multi-link Articulated Wheeled In-pipe Robot with Underactuated Twisting Joints
Oka, Yoshimichi
Kakogawa, Atsushi
Ma, Shugen
2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 2018, : 973 - 978
[50] Optimal kinematic design of a multi-link steering system for a bus independent suspension: An application of response surface methodology
Topac, M. M.
Deryal, U.
Bahar, E.
Yavuz, G.
MECHANIKA, 2015, (05): : 404 - 413

← 1 2 3 4 5 →