Related Experiment Video
Updated: Mar 31, 2026
11:16
Engineering Platform and Experimental Protocol for Design and Evaluation of a Neurally-controlled Powered Transfemoral Prosthesis
Published on: July 22, 2014
16.8K
Phase coordination and phase-velocity relationship in metameric robot locomotion
Hongbin Fang1, Suyi Li, K W Wang
1School of Aerospace Engineering and Applied Mechanics, Tongji University, Shanghai 200092, People's Republic of China. Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48105, USA.
Bioinspiration & Biomimetics
|October 30, 2015
Summary
This study introduces phase coordination for metameric robot locomotion, optimizing segment actuation without global rules. The identical-phase-difference pattern achieves high velocity and naturally generates peristalsis waves.
Area of Science:
- Robotics
- Control Systems
- Locomotion
Background:
- Traditional metameric robot locomotion relies on pre-specified global wave rules.
- Controlling complex segment actuation sequences remains a challenge.
Purpose of the Study:
- To develop a novel phase coordination approach for metameric robot locomotion.
- To investigate the role of symmetry in optimizing locomotion performance.
- To enable natural peristalsis wave generation without global rules.
Main Methods:
- Assigning actuation phase differences between adjacent segments.
- Introducing and optimizing symmetry properties in phase-difference patterns.
- Analytical and experimental verification on an 8-segment robot prototype.
Main Results:
- Maximum average velocity achieved with reflectional symmetry in phase patterns.
- The identical-phase-difference (IPD) pattern offers efficient implementation with minimal performance loss.
- A clear relationship between average velocity and IPD parameters was established.
- Optimized patterns naturally generated peristalsis waves.
Conclusions:
- Phase coordination is an effective method for controlling metameric robot locomotion.
- Symmetry plays a crucial role in maximizing locomotion velocity.
- The IPD pattern provides a simplified yet high-performing control strategy.
- This approach enables emergent peristalsis without explicit wave programming.
Related Concept Videos
01:24Relative Motion Analysis - Velocity
934
A stroke engine has a slider-crank mechanism that converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider.
When an external force is exerted, it sets the crank into a rotational movement. This, in turn, instigates the motion of the connecting rod, leading to what is referred to as a general plane motion. This process involves two key points - point A on the connecting rod...
When an external force is exerted, it sets the crank into a rotational movement. This, in turn, instigates the motion of the connecting rod, leading to what is referred to as a general plane motion. This process involves two key points - point A on the connecting rod...
934
01:22Phase-lead and Phase-lag Controllers
619
Understanding the working function of different types of controllers can be illustrated with practical analogies, such as adjusting a stereo's volume equalizer. Cranking up the bass involves a phase-lead controller, which functions as a high-pass filter, while increasing the treble uses a phase-lag controller, which acts as a low-pass filter. PD controllers, similar to high-pass filters, enhance the system's response to high-frequency components. PI controllers, akin to low-pass...
619
01:24Time and frequency -Domain Interpretation of Phase-lead Control
515
Phase-lead controllers are commonly used in various control systems to enhance response speed and stability. Adjusting the brightness on a television screen offers a practical example of phase-lead control. When contrast is enhanced, a phase-lead controller is employed. Mathematically, phase-lead control is identified when the first parameter is smaller than the second.
The design of phase-lead control involves the strategic placement of poles and zeros to balance steady-state error and system...
The design of phase-lead control involves the strategic placement of poles and zeros to balance steady-state error and system...
515
01:10Relative Motion Analysis - Acceleration
1.0K
A slider-crank mechanism converts rotational motion from the crank into linear motion of the slider or vice versa. This mechanism consists of three main parts: the crank, the connecting rod, and the slider. The movement of the slider-crank is an example of general plane motion as the fluctuating angle between the crank and the connecting rod. Consider a segment AB where point A is at the end of the slider and point B is on the diametrically opposite end to point A, on a crack. The variance in...
1.0K
01:21Time and frequency -Domain Interpretation of Phase-lag Control
443
Phase-lag controllers are widely used in control systems to improve stability and reduce steady-state errors. A dimmer switch controlling the brightness of a light bulb serves as a practical example of phase-lag control, gradually adjusting the bulb's brightness. Mathematically, phase-lag control or low-pass filtering is represented when the factor 'a' is less than 1.
Phase-lag controllers do not place a pole at zero, but instead influence the steady-state error by amplifying any...
Phase-lag controllers do not place a pole at zero, but instead influence the steady-state error by amplifying any...
443
01:15Kinematic Equations: Problem Solving
29.7K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
29.7K