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Complex-order dynamics in hexapod locomotion

dc.contributor.authorSilva, Manuel F.
dc.contributor.authorMachado, J. A. Tenreiro
dc.contributor.authorBarbosa, Ramiro S.
dc.date.accessioned2014-07-03T10:44:13Z
dc.date.available2014-07-03T10:44:13Z
dc.date.issued2006
dc.description.abstractThis 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.por
dc.identifier10.1016/j.sigpro.2006.02.024
dc.identifier.doi10.1016/j.sigpro.2006.02.024pt_PT
dc.identifier.issn0165-1684
dc.identifier.urihttp://hdl.handle.net/10400.22/4663
dc.language.isoengpor
dc.peerreviewedyespor
dc.publisherElsevierpor
dc.relation.ispartofseriesSignal Processing; Vol. 86, Issue 10
dc.relation.publisherversionhttp://www.sciencedirect.com/science/article/pii/S0165168406000636por
dc.subjectHexapod robotpor
dc.subjectFractional-order dynamicspor
dc.subjectFractional calculuspor
dc.subjectLocomotionpor
dc.subjectModellingpor
dc.subjectSimulationpor
dc.subjectPD controlpor
dc.titleComplex-order dynamics in hexapod locomotionpor
dc.typejournal article
dspace.entity.typePublication
oaire.citation.endPage2793por
oaire.citation.issueIssue 10por
oaire.citation.startPage2785por
oaire.citation.titleSignal Processingpor
oaire.citation.volumeVol. 86por
person.familyNameSilva
person.familyNameTenreiro Machado
person.familyNameBarbosa
person.givenNameManuel
person.givenNameJ. A.
person.givenNameRamiro
person.identifierR-000-A3Q
person.identifier156328
person.identifier.ciencia-idAB11-C518-AF50
person.identifier.ciencia-id7A18-4935-5B29
person.identifier.ciencia-id9F1E-CA64-4C8B
person.identifier.orcid0000-0002-0593-2865
person.identifier.orcid0000-0003-4274-4879
person.identifier.orcid0000-0001-7410-8872
person.identifier.ridM-5767-2013
person.identifier.ridM-2173-2013
person.identifier.scopus-author-id55934287000
person.identifier.scopus-author-id55989030100
person.identifier.scopus-author-id8582675300
rcaap.rightsopenAccesspor
rcaap.typearticlepor
relation.isAuthorOfPublication06ad158b-a73e-4c2e-9ea6-5c023ba9b4cc
relation.isAuthorOfPublication82cd5c17-07b6-492b-b3e3-ecebdad1254f
relation.isAuthorOfPublicationae867f98-4683-47cf-910d-16d5cd4517ba
relation.isAuthorOfPublication.latestForDiscovery06ad158b-a73e-4c2e-9ea6-5c023ba9b4cc

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