Energy Conservative Limit Cycle Oscillations

Stefano Stramigioli, Michel van Dijk

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    7 Citations (Scopus)
    481 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 languageUndefined
    Title of host publication17th IFAC World Congress
    Place of PublicationKorea
    PublisherIFAC
    Pages15666-15671
    Number of pages6
    ISBN (Print)978-1-1234-7890-7
    Publication statusPublished - Jul 2008
    Event17th IFAC World Congress 2008 - Seoul, Korea, Republic of
    Duration: 5 Jul 200812 Jul 2008
    Conference number: 17

    Publication series

    Name
    PublisherIFAC
    NumberDTR08-9

    Conference

    Conference17th IFAC World Congress 2008
    CountryKorea, Republic of
    CitySeoul
    Period5/07/0812/07/08

    Keywords

    • EWI-13069
    • IR-64882
    • METIS-251085

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