Study of a self-impacting double pendulum

Singh, Satyendra Pratap; Mukherjee, Sudipto; Sanghi, Sanjeev

doi:10.1016/j.jsv.2008.05.001

Cited by 10 publications

(16 citation statements)

References 7 publications

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“…This discrepancy will be accounted for in system modeling by considering a selfimpact constraint at the knee joints which will be activated when Ono et al (2000); (2001); (2004); Huang et al (2007) considered the joint self-impact constraint as a stopper. On the other hand, Singh et al (2008); Chatterjee et al (1995) used a spring and damper between two colliding members to model self-impact elastic and inelastic damper. The lat-ter is a much better choice since it models both stages of the constraint setting and the constrained motion of the joint self-impact phenomenon.…”

Section: Description Of Dynamical Modelling Of Joint Self-impact In Amentioning

confidence: 99%

“…The lat-ter is a much better choice since it models both stages of the constraint setting and the constrained motion of the joint self-impact phenomenon. Figure 3 shows a self-impact biped as a model of a human leg while walking normally (Singh et al, 2008). In Chatterjee et al (1995) modelling, which is known as force-based method, the interaction force is described by a linear spring-damper element.…”

Section: Description Of Dynamical Modelling Of Joint Self-impact In Amentioning

confidence: 99%

“…And are rotation angle and angular velocity (Singh et al, 2008). In addition, the joint self-impact phenomenon should be modeled by forces that are continually exerted between members in the time period of the activation of the constraint.…”

Section: Description Of Dynamical Modelling Of Joint Self-impact In Amentioning

confidence: 99%

“…In addition, the joint self-impact phenomenon should be modeled by forces that are continually exerted between members in the time period of the activation of the constraint. Singh et al (2008); Chatterjee et al (1995), used Heaviside step function in their modeling to represent this constraint for its limited activation time. Therefore, dynamical equations for joint self-impact biped with torsional spring and damper as joint self-impact modeling will be modified as follows:…”

Section: Description Of Dynamical Modelling Of Joint Self-impact In Amentioning

confidence: 99%

“…As the latest technique, Singh et al (2008) modeled the impact at the lower (knee) joint of a self-impacting double pendulum using a spring-damper in combination with a logistic function in a computationally efficient manner.…”

Section: Introductionmentioning

confidence: 99%

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Tracking control of a planar five-link bipedal walking system with point contact, considering self-impact joint constraint by adaptive neural network method

Bazargan-Lari

Eghtesad

Khoogar

et al. 2015

Lat. Am. j. solids struct.

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In order to achieve the practical characteristics of natural bipedal walking, a key feature is to realize "the straight knee state of walking" during stance and swing motions. Considering a straight knee necessitates that the shank link of each leg not to undergo the rotation angles which are greater than that of the thigh link. For this purpose, various methods have been proposed; the joint selfimpact constraint has been suggested for energy-efficient (natural) bipedal walking while realizing the straight knee constraint. The prominent objective of this research is to present a model based control method for trajectory tracking of a normal humanlike bipedal walking, by considering the joint self-impact constraint. To achieve this objective, the dynamical equations of motion of an unconstrained biped are taken, developed and then modified to consider the joint self-impact constraint at the knee joint. To control this complicated dynamical system, the available anthropometric normal gait cycle data are taken to generate the desired trajectories of the thigh and knee joints of the self-impact biped. Due to the existence of complex nonlinear terms in the dynamical governing equations of self-impact biped, the authors propose to design a nonlinear intelligent controller by taking advantage of the adaptive neural network control method, which neither requires the evaluation of inverse dynamical model nor the time consuming training process. According to the simulation results, the tracking control of the biped robot is accomplished well and the biped walking seems naturally, despite of involving complex nonlinear terms in the dynamical governing equations of the self-impact biped.

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Section: Description Of Dynamical Modelling Of Joint Self-impact In Amentioning

confidence: 99%

Section: Description Of Dynamical Modelling Of Joint Self-impact In Amentioning

confidence: 99%

Section: Description Of Dynamical Modelling Of Joint Self-impact In Amentioning

confidence: 99%

Section: Description Of Dynamical Modelling Of Joint Self-impact In Amentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Tracking control of a planar five-link bipedal walking system with point contact, considering self-impact joint constraint by adaptive neural network method

Bazargan-Lari

Eghtesad

Khoogar

et al. 2015

Lat. Am. j. solids struct.

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Dynamical properties of a nonautonomous double pendulum model

Lampart

Zapoměl

2017

Math Methods in App Sciences

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This research was motivated by a real technological problem of vibrations of bodies hanging on chains or ropes in tubes or spaces limited by walls or other bodies. The studied system has two degrees of freedom. It is formed by two pendulums moving between two walls. Its movement is governed by a set of nonlinear ordinary differential equations. The results of the simulations shown that the system exhibits regular and chaotic movement. The simulations were performed for 3 excitation amplitudes and the range of the excitation frequencies between 1 and 30 rad s−1. The subject of the investigations was the determination of the character of the pendulums' motions and identification of their collisions with the sided walls.

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A double pendulum fixed at the L1 libration point: a precursor to a Mars–Phobos space elevator

Aslanov

2023

Nonlinear Dyn

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Study of a self-impacting double pendulum

Cited by 10 publications

References 7 publications

Tracking control of a planar five-link bipedal walking system with point contact, considering self-impact joint constraint by adaptive neural network method

Tracking control of a planar five-link bipedal walking system with point contact, considering self-impact joint constraint by adaptive neural network method

Dynamical properties of a nonautonomous double pendulum model

A double pendulum fixed at the L1 libration point: a precursor to a Mars–Phobos space elevator

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