Browsing by Subject "Degrees of freedom"

Now showing 1 - 3 of 3

Open Access
Control of underactuated planar hexapedal pronking through a dynamically embedded SLIP monopod
(IEEE, 2010) Ankarali, M.M.; Saranlı, Uluç; Saranli, A.
Pronking (aka. stotting) is a gait in which all legs are used in synchrony, resulting in long flight phases and large jumping heights that may potentially be useful for mobile robots on rough terrain. Robotic instantiations of this gait suffer from severe pitch instability either due to underactuation, or the lack of sufficient feedback. Nevertheless, the dynamic nature of this gait suggests that the Spring-Loaded Inverted Pendulum Model (SLIP), a very successful predictive model for both natural and robotic runners, would be a good basis for more robust and maneuverable robotic pronking. In this paper, we describe how "template-based control", a controller structure based on the embedding of a simple dynamical "template" within a more complex "anchor" system, can be used to achieve stable and controllable pronking for a planar, underactuated hexapod model. In this context, high-level control of the gait is regulated through speed and height commands to the SLIP template, while the embedding controller based on approximate inverse-dynamics and carefully designed passive dynamics ensures the stability of the remaining degrees of freedom. We show through extensive simulation experiments that unlike existing open-loop alternatives, the resulting control structure provides stability, explicit maneuverability and significant robustness against sensor and actuator noise. ©2010 IEEE.
Open Access
Energy equipartition and frequency distribution in complex attachments
(Acoustical Society of America, 2009) Roveri, N.; Carcaterra, A.; Akay, A.
As reported in several recent publications, an undamped simple oscillator with a complex attachment that consists of a set of undamped parallel resonators can exhibit unusual energy sharing properties. The conservative set of oscillators of the attachment can absorb nearly all the impulsive energy applied to the primary oscillator to which it is connected. The key factor in the ability of the attachment to absorb energy with near irreversibility correlates with the natural frequency distribution of the resonators within it. The reported results also show that a family of optimal frequency distributions can be determined on the basis of a variational approach, minimizing a certain functional related to the system response. The present paper establishes a link between these optimal frequency distributions and the energy equipartition principle: optimal frequency distributions are those that spread the injected energy as uniformly as possible over the degrees of freedom or over the modes of the system. Theoretical as well as numerical results presented support this point of view. © 2009 Acoustical Society of America.
Open Access
Linear canonical transforms, degrees of freedom, and sampling in optical signals and systems
(IEEE, 2014) Özaktaş, Haldun M.; Öktem, F. S.
We study the degrees of freedom of optical systems and signals based on space-frequency (phase-space) analysis. At the heart of this study is the relationship of the linear canonical transform domains to the space-frequency plane. Based on this relationship, we discuss how to explicitly quantify the degrees of freedom of first-order optical systems with multiple apertures, and give conditions for lossless transfer. Moreover, we focus on the degrees of freedom of signals in relation to the space-frequency support and provide a sub-Nyquist sampling approach to represent signals with arbitrary space-frequency support. Implications for simulating optical systems are also discussed.