Induced and tunable multistability due to nonholonomic constraints
Induced and tunable multistability due to nonholonomic constraints
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DOI：
10.1007/s11071-022-07336-3
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发表时间：
2022-03
影响因子：
5.6
通讯作者：
Colin Rodwell;Phanindra Tallapragada
中科院分区：
文献类型：
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作者：
Colin Rodwell;Phanindra Tallapragada
多稳定性是机器人和运动领域的一个有趣的领域，因为实现多种配置或产生多种步态的能力允许单个机器人或机械系统执行多用途任务。这种多稳性通常是通过向系统中加入多稳性元件来实现的。然而，这项工作发现，在引入非完整约束的情况下，用线性旋转弹簧固定在一起的两个物体可以表现出多稳定行为。在引入阻尼和周期力的情况下，发现无强迫和无阻尼系统的多稳定不动点对应于多稳定极限环，其中一些导致快速净转弯。这一发现对理解生物游泳者执行的急转弯具有潜在的意义，并且可以利用在低驱动程度的机器人中执行有效的转弯。
Multistability is an area of interest in robotics and locomotion because the ability to achieve multiple configurations or generate multiple gaits allows a single robotic or mechanical system to perform versatile tasks. This multistability is often achieved by adding multistable elements to the system. However, this work finds that two bodies pinned together with a linear rotational spring can exhibit multistable behavior with the introduction of a nonholonomic constraint. Multistable fixed points of the unforced and undamped system are found to correspond to multistable limit cycles with the introduction of damping and periodic forcing, some of which result in fast net turning. This finding has potential implications in understanding the sharp turns executed by biological swimmers and could be exploited to perform efficient turns in low degree of actuation robots.