A Simple, Adaptive Locomotion Toy-System

摘要: In order to make the transfer of biological principles engineering problems successful, it is important study fundamental properties systems. The goal arrive with useful abstractions that are (1) implementable, (2) testable by experiments and sample implementations, (3) retain the, for problems, essential good features At BIRG, we interested in fundamentals locomotion control their possible applications robotics. this contribution, present a simple, adaptive toy system oscillatory nature. It composed two parts: an controller based on nonlinear oscillator, mechanical made blocks attached active passive spring. designed be robust against perturbations, adapt its changing body kinematics or added external load. tools develop such toy-system 2-scale dynamical -- Hopf oscillator frequency understanding synchronization behavior oscillators. A further central ingredient will discussed concept asymmetric friction forces. We show possess es several critical parameters. illustrated bifurcations connected some these parameters can identified as non-smooth phase transitions power law behavior. Links biology robotic s discussed.