Control of Underactuated Multi-segmental Mechanical Systems in Natural Oscillation
نویسندگان
چکیده
We consider a class of multi-link mechanical systems arising from the dynamics of multisegmental 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.
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