Fractional Order Control of a Hexapod Robot

This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The walking performance is anal...

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Bibliographic Details
Published in:	Nonlinear dynamics Vol. 38; no. 1-4; pp. 417 - 433
Main Authors:	Silva, Manuel F., Machado, J. A. T., Lopes, A. M.
Format:	Journal Article
Language:	English
Published:	Dordrecht Springer Nature B.V 01-12-2004
Subjects:	Dynamic stability Insect mimicking walking robots Locomotion Robot control Robot dynamics Robots Stability analysis Stability criteria Walking
Online Access:	Get full text
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Summary:	This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The walking performance is analysed through the Nyquist stability criterion and several indices that reflect the system dynamical properties. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics.
Bibliography:	ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23
ISSN:	0924-090X 1573-269X
DOI:	10.1007/s11071-004-3770-8