Publication
Modelling and simulation of artificial locomotion systems
| dc.contributor.author | Silva, Manuel | |
| dc.contributor.author | Tenreiro Machado, J. A. | |
| dc.contributor.author | Lopes, António M. | |
| dc.date.accessioned | 2019-04-09T09:36:40Z | |
| dc.date.embargo | 2115-05 | |
| dc.date.issued | 2005-08 | |
| dc.description.abstract | This paper describes a simulation model for a multi-legged locomotion system with joints at the legs having viscous friction, flexibility and backlash. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, the robot body is divided into several segments in order to emulate the behaviour of an animal spine. The foot-ground interaction is modelled through a non-linear spring-dashpot system whose parameters are extracted from the studies on soil mechanics. To conclude, the performance of the developed simulation model is evaluated through a set of experiments while the robot leg joints are controlled using fractional order algorithms. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.doi | 10.1017/S0263574704001195 | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/13480 | |
| dc.language.iso | eng | pt_PT |
| dc.relation.publisherversion | https://doi.org/10.1017/S0263574704001195 | pt_PT |
| dc.subject | Dynamic modelling | pt_PT |
| dc.subject | Fractional calculus | pt_PT |
| dc.subject | Robotics | pt_PT |
| dc.subject | Walking | pt_PT |
| dc.subject | Kinematics | pt_PT |
| dc.subject | Simulation | pt_PT |
| dc.subject | Saturation | pt_PT |
| dc.subject | Friction | pt_PT |
| dc.subject | Backlash | pt_PT |
| dc.title | Modelling and simulation of artificial locomotion systems | pt_PT |
| dc.type | journal article | |
| dspace.entity.type | Publication | |
| oaire.citation.endPage | 606 | pt_PT |
| oaire.citation.startPage | 595 | pt_PT |
| oaire.citation.title | Robotica | pt_PT |
| oaire.citation.volume | 23 | pt_PT |
| person.familyName | Silva | |
| person.familyName | Tenreiro Machado | |
| person.givenName | Manuel | |
| person.givenName | J. A. | |
| person.identifier | R-000-A3Q | |
| person.identifier.ciencia-id | AB11-C518-AF50 | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0002-0593-2865 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-5767-2013 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55934287000 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | closedAccess | pt_PT |
| rcaap.type | article | pt_PT |
| relation.isAuthorOfPublication | 06ad158b-a73e-4c2e-9ea6-5c023ba9b4cc | |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |