Hexapod control through a fractional algorithm

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 percribed motion is characterized in terms of several locomotion variables. Moreover, two indices measure the walking performance based on t...

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Bibliographic Details
Main Author: Silva, Manuel F. (author)
Other Authors: Machado, J. A. Tenreiro (author), Lopes, António M. (author)
Format: conferenceObject
Language:eng
Published: 2016
Subjects:
Robotics
Walking
Control algorithms
Performance analysis
Online Access:http://hdl.handle.net/10400.22/8823
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/8823
Description
Summary: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 percribed 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 erros. A set of experiments reveals the influence of the different controller tuning upon the proposed indices and on the feet trajectory tracking.

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