Embedding Desired Dynamics into Physical and Control Parameters of a Mechanical System.

Saunders, Frank.

Abstract: To date, no method has been identified that utilizes morphological and control parameters of an under-actuated system in order to create periodic oscillations of states by altering a system's mode shapes. Phased periodic oscillations of system states are relevant in robot and animal locomotion. For example, the gait of a snake robot utilizes phased oscillations of segments in order to ge... read more

Tufts University. Department of Mechanical Engineering.
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ID: tufts:21997
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