Using fractional derivatives for the joint ontrol of hexapod robots

This article studies several Fractional Order Control algorithms used for joint control of a hexapod robot. Both Padé and series approximations to the fractional derivative are considered for the control algorithm. The walking performance is evaluated through two indices: The mean absolute density o...

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Bibliographic Details
Main Author: Silva, Manuel F. (author)
Other Authors: Machado, J. A. Tenreiro (author), Barbosa, Ramiro S. (author)
Format: article
Language:eng
Published: 2014
Subjects:
Robotics
Locomotion
Control algorithms
Fractional calculus
Performance analysis
Online Access:http://hdl.handle.net/10400.22/4570
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/4570

Internet

http://hdl.handle.net/10400.22/4570

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