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Energy Conservative Limit Cycle Oscillations
Stramigioli, Stefano and Dijk van, Michel (2008) Energy Conservative Limit Cycle Oscillations. In: 17th IFAC World Congress, 6-11 July, 2008, Seoul, Korea.
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| Abstract: | 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. |
| Item Type: | Conference or Workshop Item |
| Faculty: | Electrical Engineering, Mathematics and Computer Science (EEMCS) |
| Research Group: | |
| Link to this item: | http://purl.utwente.nl/publications/64882 |
| Official URL: | http://www.ifac-papersonline.net/Detailed/38331.html |
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