Energy Conservative Limit Cycle Oscillations

Stefano Stramigioli; Michel van Dijk

Energy Conservative Limit Cycle Oscillations

Stefano Stramigioli, Michel van Dijk

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

7 Citations (Scopus)

517 Downloads (Pure)

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
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
Publisher	IFAC
Number	DTR08-9

Conference

Conference	17th IFAC World Congress 2008
Country/Territory	Korea, Republic of
City	Seoul
Period	5/07/08 → 12/07/08

Keywords

EWI-13069
IR-64882
METIS-251085

Access to Document

http://www.ifac-papersonline.net/Detailed/38331.html

Cite this

@inproceedings{42180402e9604c4eb169fa7ddd852b7a,

title = "Energy Conservative Limit Cycle Oscillations",

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.",

keywords = "EWI-13069, IR-64882, METIS-251085",

author = "Stefano Stramigioli and {van Dijk}, Michel",

year = "2008",

month = jul,

language = "Undefined",

isbn = "978-1-1234-7890-7",

publisher = "IFAC",

number = "DTR08-9",

pages = "15666--15671",

booktitle = "17th IFAC World Congress",

note = "null ; Conference date: 05-07-2008 Through 12-07-2008",

}

TY - GEN

T1 - Energy Conservative Limit Cycle Oscillations

AU - Stramigioli, Stefano

AU - van Dijk, Michel

N1 - Conference code: 17

PY - 2008/7

Y1 - 2008/7

N2 - 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.

AB - 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.

KW - EWI-13069

KW - IR-64882

KW - METIS-251085

M3 - Conference contribution

SN - 978-1-1234-7890-7

SP - 15666

EP - 15671

BT - 17th IFAC World Congress

PB - IFAC

CY - Korea

Y2 - 5 July 2008 through 12 July 2008

ER -