Natural gaits for multilink mechanical systems

Title: Natural gaits for multilink mechanical systems
Creator: Islam, M. D. Nurul; Chen, Zhiyong
Relation: Funding BodyARCGrant NumberDP130103039 http://purl.org/au-research/grants/arc/DP130103039
Relation: IEEE Transactions on Robotics Vol. 30, Issue 3, p. 765-771
Publisher Link: http://dx.doi.org/10.1109/TRO.2014.2298926
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: journal article
Date: 2014
Description: Typical animal locomotion is achieved by the rhythmical undulation of its body segments while interacting with its environment. It inspires the mechanical design of multilink locomotors. With different postures, a multilink system may present different locomotion gaits. Recently, a so-called natural oscillation gait was studied for multilink systems, and a class of biologically inspired controllers was designed for the achievement of the gait. In this paper, the theoretical design is experimentally applied on a mechanical multilink 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: biologically inspired control; central pattern generator; CPG; locomotion; robotics
Identifier: http://hdl.handle.net/1959.13/1297324
Identifier: uon:19424
Identifier: ISSN:1552-3098
Language: eng
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