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Natural Oscillation Control of Prototype Mechanical Rectifiers

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2 Author(s)
Islam, M.N. ; School of Electrical Engineering and Computer Science, The University of Newcastle, Callaghan, Australia ; Zhiyong Chen

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 was 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.

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Control Systems Technology, IEEE Transactions on  (Volume:20 ,  Issue: 6 )