Actuator synchronization for adaptive motion generation without any sensor or microprocessor

摘要

This article describes an oscillator model and a simple technique for its implementation. The proposed oscillator model enables a decentralized adaptive motion generation with multiple actuators. This model generates various large amplitude motion patterns automatically in response to the mechanical structure of the system. The major advantage of this model is that it is implemented as a purely physical mechanism without any sensor, microprocessor, or high-torque or high-precision motor. In this approach, a kind of mechanical passivity in low-torque motors delays its own phase by the physical force feedback through the dynamics of entire mechanical structure. Fundamental properties of the proposed method were validated by simulations and experiments using a spring-mass system and a simple legged robot model.