On Periodically Pendulum-Driven Systems for Underactuated Locomotion a Viscoelastic Jointed Model.pdf (889.46 kB)
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On periodically pendulum-diven systems for underactuated locomotion: A viscoelastic jointed model

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conference contribution
posted on 28.04.2022, 10:01 authored by Pengcheng Liu, Hongnian Yu, Shuang Cang

This paper investigates the locomotion principles and nonlinear dynamics of the periodically pendulum-driven (PD) systems using the case of a 2-DOF viscoelastic jointed model. As a mechanical system with underactuation degree one, the proposed system has strongly coupled nonlinearities and can be utilized as a potential benchmark for studying complicated PD systems. By mathematical modeling and non-dimensionalization of the physical system, an insight is obtained to the global system dynamics. The proposed 2-DOF viscoelastic jointed model establishes a commendable interconnection between the system dynamics and the periodically actuated force. Subsequently, the periodic locomotion principles of the actuated subsystem are elaborately studied and synthesized with the characteristic of viscoelastic element. Then the analysis of qualitative changes is conducted respectively under the varying excitation amplitude and frequency. Simulation results validate the efficiency and performance of the proposed system comparing with the conventional system. 

History

Presented at

2015 21st International Conference on Automation and Computing (ICAC)

Published in

2015 21st International Conference on Automation and Computing (ICAC)

Publisher

IEEE

Version

AM (Accepted Manuscript)

Citation

Liu, P., Yu, H. and Cang, S., 2015, September. On periodically pendulum-diven systems for underactuated locomotion: A viscoelastic jointed model. In Automation and Computing (ICAC), 2015 21st International Conference on (pp. 1-6). IEEE.

ISBN

978-0-9926-8011-4

Cardiff Met Affiliation

  • Cardiff School of Technologies

Cardiff Met Authors

Pengcheng Liu

Copyright Holder

© The Publisher

Publisher Rights Statement

© 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

Language

en