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Advisor(s)
Abstract(s)
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.
Description
Keywords
Hexapod robot Fractional-order dynamics Fractional calculus Locomotion Modelling Simulation PD control
Citation
Publisher
Elsevier