Fractional Order PDα Joint Control of Legged Robots

Detalhes bibliográficos
Autor(a) principal: Silva, Manuel
Data de Publicação: 2006
Outros Autores: Tenreiro Machado, J. A.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/13476
Resumo: This paper studies a fractional order proportional and derivative controller for a hexapod robot, having legs with three DoF and joint actuators with saturation, when walking over ground with varying properties. A simulation model is developed and the robot motion is characterized in terms of several locomotion variables. Two indices measure the walking performance based on the mean absolute density of energy per unit distance travelled and on the hip trajectory errors. A set of experiments reveal the influence of different controller tunings on the proposed indices, for different locomotion conditions.
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spelling Fractional Order PDα Joint Control of Legged RobotsRoboticsPerformance analysisFractional calculusControl algorithmsWalkingThis paper studies a fractional order proportional and derivative controller for a hexapod robot, having legs with three DoF and joint actuators with saturation, when walking over ground with varying properties. A simulation model is developed and the robot motion is characterized in terms of several locomotion variables. Two indices measure the walking performance based on the mean absolute density of energy per unit distance travelled and on the hip trajectory errors. A set of experiments reveal the influence of different controller tunings on the proposed indices, for different locomotion conditions.SAGE ChoiceRepositório Científico do Instituto Politécnico do PortoSilva, ManuelTenreiro Machado, J. A.2006-122115-02-01T00:00:00Z2006-12-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/13476eng10.1177/1077546306070608metadata only accessinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:49:01Zoai:recipp.ipp.pt:10400.22/13476Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:28:44.691651Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Fractional Order PDα Joint Control of Legged Robots
title Fractional Order PDα Joint Control of Legged Robots
spellingShingle Fractional Order PDα Joint Control of Legged Robots
Silva, Manuel
Robotics
Performance analysis
Fractional calculus
Control algorithms
Walking
title_short Fractional Order PDα Joint Control of Legged Robots
title_full Fractional Order PDα Joint Control of Legged Robots
title_fullStr Fractional Order PDα Joint Control of Legged Robots
title_full_unstemmed Fractional Order PDα Joint Control of Legged Robots
title_sort Fractional Order PDα Joint Control of Legged Robots
author Silva, Manuel
author_facet Silva, Manuel
Tenreiro Machado, J. A.
author_role author
author2 Tenreiro Machado, J. A.
author2_role author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Silva, Manuel
Tenreiro Machado, J. A.
dc.subject.por.fl_str_mv Robotics
Performance analysis
Fractional calculus
Control algorithms
Walking
topic Robotics
Performance analysis
Fractional calculus
Control algorithms
Walking
description This paper studies a fractional order proportional and derivative controller for a hexapod robot, having legs with three DoF and joint actuators with saturation, when walking over ground with varying properties. A simulation model is developed and the robot motion is characterized in terms of several locomotion variables. Two indices measure the walking performance based on the mean absolute density of energy per unit distance travelled and on the hip trajectory errors. A set of experiments reveal the influence of different controller tunings on the proposed indices, for different locomotion conditions.
publishDate 2006
dc.date.none.fl_str_mv 2006-12
2006-12-01T00:00:00Z
2115-02-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/13476
url http://hdl.handle.net/10400.22/13476
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1177/1077546306070608
dc.rights.driver.fl_str_mv metadata only access
info:eu-repo/semantics/openAccess
rights_invalid_str_mv metadata only access
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv SAGE Choice
publisher.none.fl_str_mv SAGE Choice
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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