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Mechatronics by analogy and application to legged locomotion
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology.
Institute for Aerospace Studies, University of Toronto.
2016 (English)In: Mechatronics (Oxford), ISSN 0957-4158, E-ISSN 1873-4006, Vol. 35, 173-191 p.Article in journal (Refereed) Published
Abstract [en]

A new design methodology for mechatronic systems, dubbed as Mechatronics by Analogy (MbA), is introduced. It argues that by establishing a similarity relation between a complex system and a number of simpler models it is possible to design the former using the analysis and synthesis means developed for the latter. The methodology provides a framework for concurrent engineering of complex systems while maintaining the transparency of the system behavior through making formal analogies between the system and those with more tractable dynamics. The application of the MbA methodology to the design of a monopod robot leg, called the Linkage Leg, is also presented. A series of simulations show that the dynamic behavior of the Linkage Leg is similar to that of a combination of a double pendulum and a spring-loaded inverted pendulum, based on which the system kinematic, dynamic, and control parameters can be designed concurrently.

Place, publisher, year, edition, pages
2016. Vol. 35, 173-191 p.
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-9100DOI: 10.1016/j.mechatronics.2016.02.007Local ID: 7aa6ddb2-9760-481d-ad70-52bb2072ad21OAI: oai:DiVA.org:ltu-9100DiVA: diva2:982038
Note
Validerad; 2016; Nivå 2; 20160307 (andbra)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-10-19Bibliographically approved

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