Abstract
This paper shows how globally attractive limit cycle oscillations can be induced in a system with a nonlinear feedback element. Based on the same principle as the Van
der Pol oscillator, the feedback behaves as a negative damping for low velocities but as an ordinary damper for high velocities. This nonlinear damper can be physically implemented with a continuous variable transmission and a spring, storing energy in the spring when the damping
is positive and reusing it when the damping is negative. The resulting mechanism has a natural limit cycle oscillation that is energy conservative and can be used for the development of robust, dynamic walking robots.
Original language | Undefined |
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Title of host publication | 17th IFAC World Congress |
Place of Publication | Korea |
Publisher | IFAC |
Pages | 15666-15671 |
Number of pages | 6 |
ISBN (Print) | 978-1-1234-7890-7 |
Publication status | Published - Jul 2008 |
Event | 17th IFAC World Congress 2008 - Seoul, Korea, Republic of Duration: 5 Jul 2008 → 12 Jul 2008 Conference number: 17 |
Publication series
Name | |
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Publisher | IFAC |
Number | DTR08-9 |
Conference
Conference | 17th IFAC World Congress 2008 |
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Country | Korea, Republic of |
City | Seoul |
Period | 5/07/08 → 12/07/08 |
Keywords
- EWI-13069
- IR-64882
- METIS-251085