Optimal turning gait for mechanical rectifier systems with three dimensional motion

Kohannim, Saba; Iwasaki, Tetsuya

doi:10.1109/cdc.2014.7040307

Cited by 2 publications

(3 citation statements)

References 13 publications

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“…This can be better understood by Fig. 2, which shows the optimal bias shapes for basic pitch, roll, and yaw rotations calculated from (20). Pure pitch rotation is achieved by a body shape with left-right symmetry where the arms are curled up along the radius of rotation.…”

Section: Numerical Example: the H-swimmermentioning

confidence: 99%

“…Suppose Assumption 1 holds. Then the optimal biasū is given by (20), and optimal phasorû and frequency ω can be found as follows. For each ω > 0, define…”

Section: Optimal Turning Gaitmentioning

confidence: 99%

“…An abridged conference version of the present paper is in [20] without technical details or proofs. The locomotor case study reported here is new.…”

Section: Introductionmentioning

confidence: 99%

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Dynamical Model and Optimal Turning Gait for Mechanical Rectifier Systems

Kohannim

Iwasaki

2017

IEEE Trans. Automat. Contr.

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Abstract-Animal locomotion can be viewed as mechanical rectification due to the dynamics that convert periodic body movements to a positive average thrust, resulting in a steady locomotion velocity. This paper considers a general multi-body mechanical rectifier under continuous interactions with the environment, with full rotation and translation in three dimensional space. The equations of motion are developed with respect to body coordinates to allow for direct analysis of maneuvering dynamics. The paper then formulates and solves an optimal turning gait problem for a mechanical rectifier traveling along a curved path, with propulsive forces generated by periodic body deformation (gait). In particular, the gait is optimized to minimize a quadratic cost function, subject to constraints on average locomotion velocity and average angular velocity. The problem is proven to reduce to two separate, tractable minimization problems solvable for globally optimal solutions. The first problem solves for the optimal shape offset that results in turning, while the other solves for the optimal gait that results in locomotion along a straight path. A case study of a locomotor in a fluid environment is presented to demonstrate the utility of the method for robotic locomotor design.

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Section: Numerical Example: the H-swimmermentioning

confidence: 99%

“…Suppose Assumption 1 holds. Then the optimal biasū is given by (20), and optimal phasorû and frequency ω can be found as follows. For each ω > 0, define…”

Section: Optimal Turning Gaitmentioning

confidence: 99%