DocumentCode :
41237
Title :
Oscillation, Orientation, and Locomotion of Underactuated Multilink Mechanical Systems
Author :
Lijun Zhu ; Zhiyong Chen ; Iwasaki, Takuya
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Univ. of Newcastle, Callaghan, NSW, Australia
Volume :
21
Issue :
5
fYear :
2013
fDate :
Sept. 2013
Firstpage :
1537
Lastpage :
1548
Abstract :
We consider a class of multilink mechanical systems arising from undulatory locomotion of multisegmental slender animals. All the body joints are assumed to have actuators, but the system is underactuated because of the lack of direct control over the position and orientation within the inertial frame. Yet, the system is controllable through interactive forces from the environment, just like in animal locomotion. It is systematically revealed that the motion behavior is composed of three fundamental actions: 1) oscillation; 2) orientation; and 3) locomotion. Through rigorous theoretical analyses and numerical simulations, feedback laws are developed to achieve effective control for the aforementioned three actions, exploiting the natural dynamics of body-environment interactions.
Keywords :
actuators; control system synthesis; legged locomotion; numerical analysis; position control; actuators; body joints; body-environment interaction; feedback law; inertial frame; interactive forces; motion behavior; multisegmental slender animals; numerical simulation; orientation control; oscillation; position control; underactuated multilink mechanical systems; undulatory locomotion; Equations; Joints; Mathematical model; Mechanical systems; Oscillators; Robots; Shape; Locomotion; natural oscillation; neuronal control; robotics; underactuated systems;
fLanguage :
English
Journal_Title :
Control Systems Technology, IEEE Transactions on
Publisher :
ieee
ISSN :
1063-6536
Type :
jour
DOI :
10.1109/TCST.2012.2213089
Filename :
6298945
Link To Document :
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