Dynamical Model and Optimal Turning Gait for Mechanical Rectifier Systems

• Published in: IEEE transactions on automatic control Vol. 62; no. 2; pp. 682 - 693
• Main Authors: Kohannim, Saba, Iwasaki, Tetsuya
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.02.2017; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Angular velocity; Animals; Biological systems; Cost function; Dynamics; Equations of motion; Gait; Locomotion; Mathematical model; nonlinear systems; optimal control; Optimization; Rectifiers; robotics; Robots; Shape; Turning; Turning gait

Animal locomotion can be viewed as mechanical rectification due to the dynamics that convert periodic body movements to a positive average thrust, resulting in a steady locomotion velocity. This paper considers a general multibody mechanical rectifier under continuous interactions with the environme...