Energy Conservative Limit Cycle Oscillations


Stramigioli, Stefano and Dijk, Michel van (2008) Energy Conservative Limit Cycle Oscillations. In: 17th IFAC World Congress, 6-11 July, 2008, Seoul, Korea (pp. pp. 15666-15671).

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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
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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