Engineering entrainment and adaptation in limit cycle systems: From biological inspiration to applications in robotics

摘要: Periodic behavior is key to life and observed in multiple instances at time scales our metabolism, natural environment, engineered environment. A way of modeling or generating periodic done by using oscillators, i.e., dynamical systems that exhibit limit cycle behavior. While there extensive literature on methods analyze such systems, much less work has been synthesize an oscillator some specific desired characteristics. The goal this article twofold: (1) provide a framework for characterizing designing oscillators (2) review how classes well-known can be understood related framework. basis the characterize terms their fundamental temporal spatial properties these two behaviors designed exhibit. This focus important because it allows us systematically compare large variety might first sight appear very different from each other. We identify several specifications are useful design, as frequency-locking behavior, phase-locking output signal shape. also design which met, namely offline online methods. By relating presenting examples have literature, provides methodology toolbox wide range purposes. In particular, synthesis should both engineering computational physical biological phenomena.