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

fYear

2013

fDate

17-19 June 2013

Firstpage

6480

Lastpage

6485

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;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2013

Conference_Location

Washington, DC

ISSN

0743-1619

Print_ISBN

978-1-4799-0177-7

Type

conf

DOI

10.1109/ACC.2013.6580855

Filename

6580855