Modelling and simulation of artificial locomotion systems

• Type: Article in International Scientific Journal
• Date: 2005

Authors

silva, mf (Author) Other; machado, jat (Author) Other; lopes, am (Author) FEUP

Journal

Title: Robotica

Vol. 23 No. 5

Pages: 595-606

ISSN: 0263-5747

Publisher: Cambridge University Press

Indexing

ISI Web of Knowledge - 37 Citations

ISI Web of Science

Scopus - 48 Citations

COMPENDEX

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12