Skip to main content

Research Repository

Advanced Search

On periodically pendulum-diven systems for underactuated locomotion: A viscoelastic jointed model

Liu, Pengcheng; Yu, Hongnian; Cang, Shuang


Pengcheng Liu

Shuang Cang


This paper investigates the locomotion principles and nonlinear dynamics of the periodically pendulum-driven (PD) systems using the case of a 2-DOF viscoelastic jointed model. As a mechanical system with underactuation degree one, the proposed system has strongly coupled nonlinearities and can be utilized as a potential benchmark for studying complicated PD systems. By mathematical modeling and non-dimensionalization of the physical system, an insight is obtained to the global system dynamics. The proposed 2-DOF viscoelastic jointed model establishes a commendable interconnection between the system dynamics and the periodically actuated force. Subsequently, the periodic locomotion principles of the actuated subsystem are elaborately studied and synthesized with the characteristic of viscoelastic element. Then the analysis of qualitative changes is conducted respectively under the varying excitation amplitude and frequency. Simulation results validate the efficiency and performance of the proposed system comparing with the conventional system.

Presentation Conference Type Conference Paper (Published)
Conference Name 2015 21st International Conference on Automation and Computing (ICAC)
Start Date Sep 11, 2015
End Date Sep 12, 2015
Online Publication Date Nov 2, 2015
Publication Date 2015
Deposit Date Jun 18, 2022
Publisher Institute of Electrical and Electronics Engineers
Book Title 2015 21st International Conference on Automation and Computing (ICAC)
ISBN 978-0-9926-8011-4
Public URL