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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Detalhes bibliográficos
Autor principal: Silva, Manuel (author)
Outros Autores: Tenreiro Machado, J. A. (author)
Formato: conferenceObject
Idioma:eng
Publicado em: 2019
Assuntos:
Robotics
Walking
Control algorithms
Performance analysis
Texto completo:http://hdl.handle.net/10400.22/13321
País:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13321

Texto Completo

http://hdl.handle.net/10400.22/13321

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