期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 6, 期 2, 页码 1910-1917出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3061303
关键词
Dynamics; flexible robotics; modeling; control; And learning for soft robots
类别
资金
- ERC [835284, 787675]
- European Research Council (ERC) [835284, 787675] Funding Source: European Research Council (ERC)
This paper discusses different generalizations of linear oscillation modes to nonlinear systems and proposes necessary and sufficient conditions for the existence of strict oscillation modes on systems with a Riemannian metric and a potential field. Additionally, a constructive example in the case of an elastic double pendulum demonstrates the method of designing such modes.
For the study of highly nonlinear, conservative dynamic systems, finding special periodic solutions which can be seen as generalization of the well-known normal modes of linear systems is very attractive. However, the study of low-dimensional invariant manifolds in the form of nonlinear normal modes is rather a niche topic, treated mainly in the context of structural mechanics for systems with Euclidean metrics, i.e., for point masses connected by nonlinear springs. In our previous research [1], [16], [17] we recognized, however, that a very rich structure of periodic and low-dimensional solutions exist also within nonlinear systems such as elastic multi-body systems encountered in the biomechanics of humans and animals or of humanoid and quadruped robots, which are characterized by a non-constant metric tensor. This letter briefly discusses different generalizations of linear oscillation modes to nonlinear systems and proposes a definition of strict nonlinear normal modes, which matches most of the relevant properties of the linear modes. The main contributions are a theorem providing necessary and sufficient conditions for the existence of strict oscillation modes on systems endowed with a Riemannian metric and a potential field as well as a constructive example of designing such modes in the case of an elastic double pendulum.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据