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Control of Natural Oscillation Gait for Mechanical Locomotors in Three Dimensional Space
Author(s) -
Zhang Junping,
Zhu Lijun,
Chen Zhiyong
Publication year - 2016
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1030
Subject(s) - oscillation (cell signaling) , mechanical system , gait , control theory (sociology) , computer science , flapping , actuator , engineering , control (management) , artificial intelligence , aerospace engineering , wing , physical medicine and rehabilitation , medicine , genetics , biology
A mechanical rectifier system is a class of multi‐segmental mechanical structures whose locomotion results from the rhythmic undulation of segments. For the mechanical rectifier system consisting of multiple links in series, a biologically inspired control design approach has been proposed to study a kind of locomotion gait in natural oscillation on a plane. In this paper, the approach is further developed for more complex multi‐segmental systems moving in three dimensional space. A typical example of this class of systems is the flapping‐wing structure which arises from animal locomotion such as bird flying or ray swimming. Three elemental actions including oscillation, orientation, and locomotion are fully discussed in this paper in terms of theoretical analysis and numerical simulation.