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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Detalhes bibliográficos
Autor principal: Silva, Manuel F. (author)
Outros Autores: Machado, J. A. Tenreiro (author), Lopes, António M. (author)
Formato: conferenceObject
Idioma:eng
Publicado em: 2016
Assuntos:
Robotics
Walking
Control algorithms
Performance analysis
Texto completo:http://hdl.handle.net/10400.22/8823
País:Portugal
Oai:oai:recipp.ipp.pt:10400.22/8823

Texto Completo

http://hdl.handle.net/10400.22/8823

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