Energy Conservative Limit Cycle Oscillations
World Congress, Volume # 17 | Part# 1
Stramigioli, Stefano; van Dijk, Michel
Digital Object Identifier (DOI)
Design methodologies; Application of mechatronic principles; Robotics technology
This paper shows how globally attractive limit cycle oscillations can be induced in a system with a nonlinear feedback element. Based on the same principle as the Van der Pol oscillator, the feedback behaves as a negative damping for low velocities but as an ordinary damper for high velocities. This nonlinear damper can be physically implemented with a continuous variable transmission and a spring, storing energy in the spring when the damping is positive and reusing it when the damping is negative. The resulting mechanism has a natural limit cycle oscillation that is energy conservative and can be used for the development of robust, dynamic walking robots.
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