Title :
Multi-link mechanical locomotors in natural gaits - controller design and experiments
Author :
Islam, Md Nurul ; Zhiyong Chen
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Univ. of Newcastle, Callaghan, NSW, Australia
Abstract :
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.
Keywords :
control system synthesis; gait analysis; mobile robots; multi-robot systems; numerical analysis; robot dynamics; biologically inspired controllers; controller design; mechanical multilink testbed; multilink mechanical locomotors; multilink systems; natural oscillation gait; numerical simulation; posture configurations; rayfish-like flapping-wing motion; snake-like serpentine motion; Equations; Joints; Mathematical model; Mobile robots; Oscillators; Robotics; biologically inspired control; central pattern generator (CPG); locomotion;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580855
