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Single degree of freedom motions
Coupling through natural dynamics
6 other sections not shown
amplitude approximately arm dynamics auditory signal ball beat Biological Cybernetics Bode plot cables changes chapter complex compliant configuration connected constant converge coordination coupled oscillator coupled system crank turning damping degrees of freedom describing function analysis drive drumming effect eigenvalues elbow elbow-b entrain equation example exploiting natural dynamics Figure showing fixed points force control graph shows hitting implemented joint angle juggling limit cycle mass mass-spring system Matsuoka oscillator mechanical coupling mechanical system motor natural frequency Neural neural oscillators neurons non-linear oscillator behavior oscillator output oscillator parameters oscillator solution oscillator system oscillatory passive dynamic plot shows posture potentiometer prediction properties pulley Raibert REAL REAL REAL real robot resonance tuning resonant frequency resonant mode rhythmic robot arm robust sensor board series elastic actuators shoulder-b shown in figure sine wave Slinky toy spring stable stiffness strain gauge switching surface task thesis torque torque feedback trajectory transients tube values