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

Internet

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

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