DSCC 2013 Paper Abstract


Paper MoAT2.6

zoghzoghy, Joe (Southern Methodist University), Alshorman, Ahmad (SMU), Hurmuzlu, Yildirim (SMU)

Inertially Actuated Baton Locomotor

Scheduled for presentation during the Contributed session "Bipeds and Locomotion" (MoAT2), Monday, October 21, 2013, 11:55−12:15, Room 123

6th Annual Dynamic Systems and Control Conference, October 21-23, 2020, Stanford University, Munger Center, Palo Alto, CA

This information is tentative and subject to change. Compiled on October 30, 2020

Keywords Actuators, Vibration Control


In this paper, we present a robotic locomotor with inertiabased actuation. The goal of this system is to generate various gait modes of a baton, consisting of two masses connected with a massless rod. First, a model for a baton prototype called Pony I is presented. This model incorporates the inertial forces generated by a rotating single pendulum. The model also accounts for the friction forces that arise in the contact points of the baton with the ground surface. We also developed an experimental prototype for a baton with a single-pendulum actuator. Consequently, we compared the nonlinear dynamics of the analytical and experimental systems. An improved double-pendulum actuation system was proposed for better regulation of the locomotion of the system and the orientation of the centrifugal force. Finally, demonstrated that this system generated steady forward locomotion.


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