Position/Force Control of a Walking Robot

• Tipo: Artigo em Revista Científica Internacional
• Data: 2003

Autores

Manuel F. Silva (Autor) Outra; José A. Tenreiro Machado (Autor) FEUP; António M. Lopes (Autor) FEUP

Revista

Título: MIROC – Machine Intelligence and Robotic Control

Vol. 5 Nº 2

Páginas: 33-44

ISSN: 1345269X

Editora: Cyber Scientific

Outras Informações

Abstract (EN): This paper analyzes the performance of a classical position PD algorithm and a new cascade controller, involving position and force feedback loops, for multi-legged locomotion systems. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. A group os indices measures the walking performance based on the robot and terrein dynamical properties and on the robot hit trajactories. A set of experiments reveals the performance of the control architectures in the viewpoint of the proposed indices.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12