Modelling and simulation of artificial locomotion systems

• Tipo: Artigo em Revista Científica Internacional
• Data: 2005

Autores

silva, mf (Autor) Outra; machado, jat (Autor) Outra; lopes, am (Autor) FEUP

Revista

Título: Robotica

Vol. 23 Nº 5

Páginas: 595-606

ISSN: 0263-5747

Editora: Cambridge University Press

Indexação

ISI Web of Knowledge - 37 Citações

ISI Web of Science

Scopus - 48 Citações

COMPENDEX

Classificação Científica

FOS: Ciências da engenharia e tecnologias > Engenharia electrotécnica, electrónica e informática

Outras Informações

ID Authenticus: P-000-1RC

DOI: 10.1017/s0263574704001195

Abstract (EN): This paper describes a simulation model for a multi-legged locomotion system with joints at the legs having viscous friction, flexibility and backlash. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, the robot body is divided into several segments in order to emulate the behaviour of an animal spine. The foot-ground interaction is modelled through a non-linear spring-dashpot system whose parameters are extracted from the studies on soil mechanics. To conclude, the performance of the developed simulation model is evaluated through a set of experiments while the robot leg joints are controlled using fractional order algorithms.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12