Fractional PDª control of an hexapod robot

This paper studies the performance of a Fractional Order PDª controller in a hexapod robot with three dof legs and leg joint actuators having saturation. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, two indices measure the walkin...

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Bibliographic Details
Main Author: Silva, Manuel (author)
Other Authors: Tenreiro Machado, J. A. (author)
Format: conferenceObject
Language:eng
Published: 2019
Subjects:
Robotics
Walking
Control algorithms
Performance analysis
Online Access:http://hdl.handle.net/10400.22/13321
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13321
Description
Summary:This paper studies the performance of a Fractional Order PDª controller in a hexapod robot with three dof legs and leg joint actuators having saturation. For that objective the robot prescribed 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 errors. A set of simulation experiments reveals the influence of the different controller tuning upon the proposed indices.

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