2P1-B29 Synchronized Jumping Control of Hopping Robots by using Mutual Entrainment of Nonlinear Oscillator

2010 ◽  
Vol 2010 (0) ◽  
pp. _2P1-B29_1-_2P1-B29_2
Author(s):  
Hidekazu KAJIWARA
Keyword(s):  
Nonlinear Oscillator ◽  
Hopping Robots

Features of a chaotic attractor in a quasiperiodically driven nonlinear oscillator

2021 ◽  
Vol 31 (7) ◽  
pp. 073118
Author(s):  
V. P. Kruglov ◽  
D. A. Krylosova ◽  
I. R. Sataev ◽  
E. P. Seleznev ◽  
N. V. Stankevich
Keyword(s):  
Chaotic Attractor ◽  
Nonlinear Oscillator

Boosting the Output Performance of the Triboelectric Nanogenerator through the Nonlinear Oscillator

2021 ◽  
Vol 13 (5) ◽  
pp. 6331-6338
Author(s):  
Dong Guan ◽  
Guoqiang Xu ◽  
Xin Xia ◽  
Jiaqi Wang ◽  
Yunlong Zi
Keyword(s):  
Nonlinear Oscillator ◽  
Triboelectric Nanogenerator ◽  
Output Performance

Models of a hybrid wheeled hopping self-balanced robot

2021 ◽  
pp. 095440622098419
Author(s):  
Qimin Li ◽  
Haibing Zeng ◽  
Long Bai ◽  
Zijian An
Keyword(s):  
Pid Control ◽  
Motion Pattern ◽  
System Dynamics Model ◽  
Dynamics Model ◽  
Swarm Optimization ◽  
Hopping Robot ◽  
Control Scheme ◽  
Hopping Robots ◽  
Hybrid Motion ◽  
Classical Control

Combining wheeled structure with hopping mechanism, this paper purposes a self-balanced hopping robot with hybrid motion pattern. The main actuator which is the cylindrical cam, optimized by particle swarm optimization (PSO), is equipped with the motor to control the hopping motion. Robotic system dynamics model is established and solved by Lagrangian method. After linearization, control characteristics of the system is obtained by classical control theory based on dynamics equations. By applying Adams and Matlab to simulate the system, hopping locomotion and self-balanced capability are validated respectively, and result shows that jump height can reach 750 mm theoretically. Then PID control scheme is developed and specific models of hardware and software are settled down accordingly. Finally, prototype is implemented and series of hopping experiments are conducted, showing that with different projectile angle, prototype can jump 550 mm in height and 460 mm in length, transcending majority of other existing hopping robots.

Bifurcation Trees of Periodic Motions to Chaos in a Parametric, Quadratic Nonlinear Oscillator

2014 ◽  
Vol 24 (05) ◽  
pp. 1450075 ◽  
Author(s):  
Albert C. J. Luo ◽  
Bo Yu
Keyword(s):  
Fourier Series ◽  
Nonlinear Systems ◽  
Analytical Solutions ◽  
Nonlinear Oscillator ◽  
Series Solution ◽  
Parametric Oscillator ◽  
Periodic Motions ◽  
Parametric Oscillators ◽  
Harmonic Term ◽  
Nonlinear Behaviors

In this paper, bifurcation trees of periodic motions to chaos in a parametric oscillator with quadratic nonlinearity are investigated analytically as one of the simplest parametric oscillators. The analytical solutions of periodic motions in such a parametric oscillator are determined through the finite Fourier series, and the corresponding stability and bifurcation analyses for periodic motions are completed. Nonlinear behaviors of such periodic motions are characterized through frequency–amplitude curves of each harmonic term in the finite Fourier series solution. From bifurcation analysis of the analytical solutions, the bifurcation trees of periodic motion to chaos are obtained analytically, and numerical illustrations of periodic motions are presented through phase trajectories and analytical spectrum. This investigation shows period-1 motions exist in parametric nonlinear systems and the corresponding bifurcation trees to chaos exist as well.

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