Coordination of the Walking Stick Insect Using a System of Nonlinear Coupled Oscillators

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dc.contributor.advisorKrishnaprasad, P.S.en_US
dc.contributor.authorMarvin, Daryl J.en_US
dc.contributor.departmentISRen_US
dc.date.accessioned2007-05-23T09:52:59Z
dc.date.available2007-05-23T09:52:59Z
dc.date.issued1992en_US
dc.description.abstractThe area of walking machines is investigated. A design for pattern generator composed of nonlinear coupled oscillators which generates the characteristic gaits of the walking stick insect is presented. A full dynamic model of the walking stick insect is developed, including ground interaction. Furthermore, a method of numerically solving the dynamic equations is described. Next, a control system utilizing the system of nonlinear coupled oscillators is presented. Finally, a numerical/graphical simulation of the walking stick insect is described, and results presented.en_US
dc.format.extent2465410 bytes
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/1903/5338
dc.language.isoen_USen_US
dc.relation.ispartofseriesISR; MS 1992-9en_US
dc.subjectnonlinear systemsen_US
dc.subjectroboticsen_US
dc.subjectsystem theoryen_US
dc.subjectIntelligent Servomechanismsen_US
dc.titleCoordination of the Walking Stick Insect Using a System of Nonlinear Coupled Oscillatorsen_US
dc.typeThesisen_US

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