Straight worms under adaptive control and friction - part 2: adaptive control. - In: IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, (2011), S. 65-72
This is the second part of the contribution to the adaptive control of worm-systems, which are inspired by biological ideas. Part 1 is the basis for this part. We focus now on the adaptive control since one cannot expect to have complete information about a sophisticated mechanical or biological system in general. Only structural properties (known type of actuator with unknown parameters) are known. Additionally, in a rough terrain, unknown or changing friction coefficients lead to uncertain systems, too. The consideration of uncertain systems leads us now to the use of adaptive control. We still assume that the worm-system contacts the ground via spikes and track gaits from the kinematical theory (preferred motion patterns to achieve movement) by means of adaptive controllers (lambda-trackers). Then we replace the worm-ground interaction by stiction combined with Coulomb sliding friction (modification of a Karnopp friction model) and point out the main differences for the worm-like locomotion.
https://doi.org/10.1007/978-94-007-1643-8_8
Straight worms under adaptive control and friction - part 1: modeling. - In: IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, (2011), S. 57-64
This paper is a contribution to the adaptive control of worm-systems, which are inspired by biological ideas, in two parts. We introduce a certain type of mathematical models of nite DOF worm-like locomotion systems: modeled as a chain of k interconnected (linked) point masses in a common straight line (a discrete straight worm). We assume that these systems contact the ground via 1) spikes in Part 1 and then 2) stiction combined with Coulomb sliding friction (modification of a Karnopp friction model) in Part 2. We sketch the corresponding theory. In general, one cannot expect to have complete information about a sophisticated mechanical or biological system, only structural properties (known type of actuator with unknown parameters) are known. Additionally, in a rough terrain, unknown or changing friction coefficients lead to uncertain systems, too. The consideration of uncertain systems leads to the use of adaptive control in Part 2 to control such systems. Gaits from the kinematical theory (preferred motion patterns to achieve movement) in Part 1 can be tracked by means of adaptive controllers (lambda-trackers) in Part 2. Simulations are aimed at the justification of theoretical results.
https://doi.org/10.1007/978-94-007-1643-8_7
Adaptively controlled bio-inspired locomotion systems with friction. - In: Nonlinear dynamics and control, ISBN 978-83-7283-448-5, (2011), S. 81-88
Singular perturbation in worm-like locomotion systems and adaptive control. - In: Nonlinear dynamics and control, ISBN 978-83-7283-448-5, (2011), S. 73-80
Motion of two interconnected mass points in a resistive medium. - In: Analytical/numerical methods, stability, bifurcation and chaos, ISBN 978-83-7283-447-8, (2011), S. 109-114
K opisaniju mechaniki vraščenija klapannoj pružiny v dvigateljach vnutrennego sgoranija v zavisimosti ot skorosti vraščenija raspredvala :
On the mechanics of valve spring rotation depending on the rotational speed of the camshaft. - In: Problems of mechanics, ISSN 1512-0740, (2011), No. 4(45), Seite 25-36
Design of new mobile robot with using anisotropy of friction forces. - In: Priborostroenie-2011, ISBN 978-985-525816-3, (2011), S. 253-255
Micro-robot's legs dynamics in the controllable resonance mode. - In: Priborostroenie-2011, ISBN 978-985-525816-3, (2011), S. 250-253
On adaptive control of singularly perturbed systems : a worm-like locomotion example. - In: Final program, 2011, Robotics and mechatronics, A12-335, S. 1-6
Literaturverz. S. 6
http://www.dmg-lib.org/dmglib/handler?docum=22445009
Influence of the legs' geometry on the dynamics of a piezo-microrobot. - In: Innovation in mechanical engineering - shaping the future, ISBN 978-3-86360-001-3, (2011), S. 82