NDLI: Oscillation, Orientation, and Locomotion of Underactuated Multilink Mechanical Systems

Content Provider	IEEE Xplore Digital Library
Author	Lijun Zhu Zhiyong Chen Iwasaki, T.
Copyright Year	1993
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.
Sponsorship	IEEE Control Systems Society
Starting Page	1537
Ending Page	1548
Page Count	12
File Size	662361
File Format	PDF
ISSN	10636536
Volume Number	21
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-09-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Oscillators Mathematical model Shape Joints Equations Robots Mechanical systems underactuated systems Locomotion natural oscillation neuronal control robotics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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