Design of Mechanical and Control Systems for Undulatory Locomotors Based on Dynamics and its Experimental Verification

为了建立基于动力学的波动电机机械系统和控制系统的设计方法，提出了一种新的设计方案。首先推导出设计方案中电机的动力学方程，然后推导出电机的能效、稳定性和推进力等性能指标。这些指标反映在动态模拟器中运动装置的机构设计和控制方法上。研制了一种基于动力学原理设计的新型波动机车--“四叉转向步行器”，并通过实验验证了该设计方案的有效性。

To establish a design methodology of mechanical and control systems for undulatory locomotors based on dynamics, a new design scheme has been proposed. Dynamical equations of the locomotors in the design scheme are first derived and performance indexes such as energy efficiency, stability and propulsion force are secondly formulated. The indexes are reflected in the design of mechanisms and control methods of the locomotors in dynamical simulators. A new undulatory locomotor designed based on dynamics referred to as a "four-forked steering walker" has been developed, and the validity of the design scheme has been verified experimentally.