Browsing by Issue Date, starting with "2002-05-11"
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- Performance analysis of multi-legged systemsPublication . Silva, Manuel; Tenreiro Machado, J. A.; Lopes, António M.This paper studies periodic gaits of multi-legged robot locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step lenght, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate four performance measures of the walking robot namely, the locomobility of the foot, the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices.
- Pseudoinverse trajectory control of redundant manipulators: A fractional calculus perspectivePublication . Duarte, Fernando B. M.; Tenreiro Machado, J. A.Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. For this type of arms the proposed kinematic control algorithms adopt generalized inverse matrices but, in general, the corresponding trajectory planning schemes show important limitations. Motivated by these problems this paper studies the chaos revealed by pseudoinverse-based trajectory planning algorithms, using the theory of fractional calculus.