Natural Oscillation Control of Prototype Mechanical Rectifiers

作者：Islam Md Nurul^*; Chen Zhiyong

来源：IEEE Transactions on Control Systems Technology, 2012, 20(6): 1559-1566.

DOI：10.1109/TCST.2011.2165718

• Central pattern generator (CPG)
• locomotion
• neuronal control
• oscillation
• robotics

For a typical biologically inspired multi-segmental mechanical system, the system%26apos;s locomotion behavior is rectified from the segments%26apos; rhythmic oscillation. A central pattern generator (CPG)-based controller was developed to achieve the locomotion with a certain sense of natural oscillation. We designed and manufactured a prototype mechanical rectifier (PMR) system which captures the essential mechanism of multi-segmental systems. Experiments were conducted on the PMR system to reveal the effectiveness of the natural oscillation entrainment controller.

• 出版日期2012-11