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Inertially Actuated Baton Locomotor

[+] Author Affiliations
Joe Zoghzoghy, Ahmad Alshorman, Yilrdirim Hurmuzlu

Southern Methodist University, Dallas, TX

Paper No. DSCC2013-4012, pp. V001T10A005; 9 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 1: Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; Bio-Medical and Bio-Mechanical Systems; Biomedical Robots and Rehab; Bipeds and Locomotion; Control Design Methods for Adv. Powertrain Systems and Components; Control of Adv. Combustion Engines, Building Energy Systems, Mechanical Systems; Control, Monitoring, and Energy Harvesting of Vibratory Systems
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5612-3
  • Copyright © 2013 by ASME


In this paper, we present a robotic locomotor with inertia-based actuation. The goal of this system is to generate various gait modes of a baton, consisting of two masses connected with a massless rod. First, a model for a baton prototype called Pony I is presented. This model incorporates the inertial forces generated by a rotating single pendulum. The model also accounts for the friction forces that arise in the contact points of the baton with the ground surface. We also developed an experimental prototype for a baton with a single-pendulum actuator. Consequently, we compared the nonlinear dynamics of the analytical and experimental systems. An improved double-pendulum actuation system was proposed for better regulation of the locomotion of the system and the orientation of the centrifugal force. Finally, demonstrated that this system generated steady forward locomotion.

Copyright © 2013 by ASME



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