Hexapod Control Through a Fractional Algorithm

• Type: Article in International Conference Proceedings Book
• Date: 2004

Authors

Manuel F. Silva (Author) Other; José Tenreiro Machado (Author) FEUP; António Mendes Lopes (Author) FEUP

Conference proceedings International

Title: FDA’2004 - Fractional Differentiation and its Applications

Pages: 526-531

Bordeaux, France

Other information

Abstract (EN): This paper studies the performance of a Fractional Order controller in a hexapod robot with joint leg actuators having saturation. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, two indices measure the walking performance based on the mean absolute density of energy per travelled distance and on the hip trajectory errors. A set of experiments reveals the influence of the different controller tuning upon the proposed indices and on the feet trajectory tracking. Copyright 2004 IFAC

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6