Position/Force Control of a Walking Robot

• Type: Article in International Scientific Journal
• Date: 2003

Authors

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

Journal

Title: MIROC – Machine Intelligence and Robotic Control

Vol. 5 No. 2

Pages: 33-44

ISSN: 1345269X

Publisher: Cyber Scientific

Other information

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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12