Natural Oscillation Control Experiments on a Prototype Mechanical Rectifier
نویسندگان
چکیده
For a typical biologically inspired multi-segmental mechanical system, the system’s locomotion behavior is rectified from the segments’ rhythmic oscillation. A central pattern generator (CPG) based controller has been 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.
منابع مشابه
Control of a Robotic Wheel-Chair Prototype for People with Walking Disabilities
In this paper we present a system that could be used to help people with walking disabilities. A system consists of a prototype mobile robot platform equipped with a control board and a remote computer system, running with image processing algorithms, was used to develop a system for physically disabled human to move freely in an environment. We used a camera to get visual information by a huma...
متن کاملDesign, Fabrication and Intelligent Control of the Gripper Based on SMA Actuators
This paper presents the designing, simulation, fabrication and control of a gripper actuated by Shape Memory Alloy (SMA) wire. The presented gripper has the advantage of the small linear displacement of the slider connected to the SMA wire, and can convert the linear displacement into angular movement of the gripper fingers. In this study, design and simulation processes have been done by two p...
متن کاملAnalysis and Simulation of ZVS Methods in Full Bridge Converters and Realization of a 3 KW Prototype
One of the difficulties with PWM switching converters is high switching loss and electromagnetic interference due to switching at non-zero voltage and current, which limits the operating frequency. In order to reduce the converter volume and weight (by increasing the frequency) and reducing switching losses, zero voltage and current switching methods are recommended. In this paper, four main ze...
متن کاملVirtual Flux Based Direct Power Control on Vienna Rectifier
This paper proposes the virtual flux based direct power control for Vienna rectifier. No need for the input voltage sensors, the current regulation loop and PWM voltage modulation block along with the active and reactive power decoupling are some of the salient advantages of this method that make it suitable for controlling the conventional active rectifiers. However, due to the three-level nat...
متن کاملOscillation Control of Aircraft Shock Absorber Subsystem Using Intelligent Active Performance and Optimized Classical Techniques Under Sine Wave Runway Excitation (TECHNICAL NOTE)
This paper describes third aircraft model with 2 degrees of freedom. The aim of this study is to develop a mathematical model for investigation of adoptable landing gear vibration behavior and to design Proportional Integration Derivative (PID) classical techniques for control of active hydraulic nonlinear actuator. The parameters of controller and suspension system are adjusted according to be...
متن کامل