Complex-order dynamics in hexapod locomotion
Data(s) |
03/07/2014
03/07/2014
2006
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Resumo |
This paper studies the dynamics of foot–ground interaction in hexapod locomotion systems. For that objective the robot motion is characterized in terms of several locomotion variables and the ground is modelled through a non-linear spring-dashpot system, with parameters based on the studies of soil mechanics. Moreover, it is adopted an algorithm with foot-force feedback to control the robot locomotion. A set of model-based experiments reveals the influence of the locomotion velocity on the foot–ground transfer function, which presents complex-order dynamics. |
Identificador |
DOI: 10.1016/j.sigpro.2006.02.024 0165-1684 |
Idioma(s) |
eng |
Publicador |
Elsevier |
Relação |
Signal Processing; Vol. 86, Issue 10 http://www.sciencedirect.com/science/article/pii/S0165168406000636 |
Direitos |
openAccess |
Palavras-Chave | #Hexapod robot #Fractional-order dynamics #Fractional calculus #Locomotion #Modelling #Simulation #PD control |
Tipo |
article |