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dc.contributor.authorLiu, Pengcheng
dc.contributor.authorYu, Hongnian
dc.contributor.authorCang, Shuang
dc.date.accessioned2019-01-24T16:18:02Z
dc.date.available2019-01-24T16:18:02Z
dc.date.issued2015
dc.identifier.citationLiu, 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.en_US
dc.identifier.urihttp://hdl.handle.net/10369/10232
dc.descriptionPaper published in 2015 21st International Conference on Automation and Computing (ICAC), available at https://doi.org/10.1109/IConAC.2015.7313936en_US
dc.description.abstractThis 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.en_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartofseries2015 21st International Conference on Automation and Computing (ICAC);
dc.subjectviscoelasticityen_US
dc.subjectmathematical analysisen_US
dc.subjectmotion generationen_US
dc.titleOn periodically pendulum-diven systems for underactuated locomotion: A viscoelastic jointed modelen_US
dc.typeConference paperen_US
dc.identifier.doihttps://doi.org/10.1109/IConAC.2015.7313936
dcterms.dateAccepted2015
rioxxterms.versionAMen_US
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden_US


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