This article describes a decentralized controller that generates periodic motion patterns of general mechanical systems with multiple actuators, and its extremely simple implementation. The controller synchronizes the coupled dynamics of an uncertain body, the environment, and the actuators to its natural vibration modes autonomously. The major contribution of this method is that it makes possible decentralized and adaptive motion generation with multiple actuators without any sensor, microprocessor, or high-torque and high-precision motor. The proposed implementation of the decentralized controller is composed of a crank arm and low-torque DC motor, and we focus on the intrinsic dynamics of the DC motor. When a reaction torque from the environment is applied to the motor shaft, the rotational speed of the motor will be changed passively. In our approach, we exploit these dynamics as a feedback controller that adjusts the phase of the DC motor. Experiments and simulations validate the fundamental features of the proposed method with a spring-mass system, and the effects of the initial phase difference and improvement of the convergence property are reported. Moreover, an application example with a nonlinear legged robot simulation is demonstrated.

中文翻译：

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基于振动的运动生成，无需任何传感器或微处理器

本文介绍了一种分散式控制器，该控制器可生成具有多个执行器的通用机械系统的周期性运动模式，及其极其简单的实现。控制器自动将不确定物体、环境和执行器的耦合动力学与其自然振动模式同步。这种方法的主要贡献在于，它可以在没有任何传感器、微处理器或高扭矩和高精度电机的情况下，使用多个执行器进行分散和自适应运动生成。分散控制器的建议实现由曲柄臂和低扭矩直流电机组成，我们专注于直流电机的内在动力学。当来自环境的反作用力矩施加到电机轴上时，电机的转速将发生被动变化。作为调节直流电机相位的反馈控制器。实验和模拟验证了所提出的具有弹簧质量系统的方法的基本特征，并报告了初始相位差和收敛性改进的影响。此外，还演示了具有非线性腿式机器人仿真的应用示例。