Elsevier

IFAC Proceedings Volumes

Volume 44, Issue 1, January 2011, Pages 13741-13746
IFAC Proceedings Volumes

Control of Underactuated Multi-segmental Mechanical Systems in Natural Oscillation

https://doi.org/10.3182/20110828-6-IT-1002.01264Get rights and content

Abstract

We consider a class of multi-link mechanical systems arising from the dynamics of multi-segmental animal locomotion in a two dimensional plane. As revealed in the earlier paper, when the head link is constrained along a specified direction, the remaining links can be fully controlled by the corresponding joint torques to achieve an autonomous locomotion in natural oscillation. In this paper, we further consider a free motion without the head constraint. An additional degree of freedom representing the motion direction is thus induced, which motives a novel underactuated control approach.

Keywords

Oscillation
locomotion
robotics
neuronal control
underactuation

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The work was supported by the Australian Research Council under Grant No. DP0878724.

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