Robot Swinging Using van der Pol Nonlinear Oscillators

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Title: Robot Swinging Using van der Pol Nonlinear Oscillators
Authors: Veskos, P
Demiris, Y
Item Type: Conference Paper
Abstract: In this study, we investigated the use of van der Pol oscillators in a 2-dof embodied robotic platform for a swinging task. The oscillator controlled the hip and knee joints of the robot and was capable of generating waveforms with the correct frequency and phase so as to entrain with the mechanical system.
Issue Date: 30-Sep-2005
Copyright Statement: © 2005 Technische Universitat Ilmenau
Conference Name: International Symposium on Adaptive Motion of Animals and Machines
Publication Status: Published
Start Date: 2005-09-25
Finish Date: 2005-09-25
Conference Place: Ilmenau, Germany
Appears in Collections:Electrical and Electronic Engineering

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