Journal article
Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions
Journal of mechanisms and robotics, v 9(2), 024502
01 Apr 2017
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
Oscillatory behavior is important for tasks, such as walking and running. We are developing methods for wearable robotics to add energy to enhance or vary the oscillatory behavior based on the system's phase angle. We define a nonlinear oscillator using a forcing function based on the sine and cosine of the system's phase angle that can modulate the amplitude and frequency of oscillation. This method is based on the state of the system and does not use off-line trajectory planning. The behavior of a limit cycle is shown using the Poincare-Bendixson criterion. Linear and rotational models are simulated using our phase controller. The method is implemented and tested to control a pendulum.
Metrics
Details
- Title
- Nonlinear, Phase-Based Oscillator to Generate and Assist Periodic Motions
- Creators
- Juan De la Fuente - Arizona State UniversityThomas G. Sugar - Arizona State UniversitySangram Redkar - Arizona State University
- Publication Details
- Journal of mechanisms and robotics, v 9(2), 024502
- Publisher
- Asme
- Number of pages
- 7
- Grant note
- US9308642 B2 / Systems and Methods for Adding or Subtracting Energy W911QX-12-1-002 / Warrior Web Project under the DARPA
- Resource Type
- Journal article
- Language
- English
- Academic Unit
- Mechanical Engineering and Mechanics
- Web of Science ID
- WOS:000398594900016
- Scopus ID
- 2-s2.0-85014964376
- Other Identifier
- 991021890010004721
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InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Engineering, Mechanical
- Robotics