Publication
Complex-order dynamics in hexapod locomotion
dc.contributor.author | Silva, Manuel F. | |
dc.contributor.author | Machado, J. A. Tenreiro | |
dc.contributor.author | Barbosa, Ramiro S. | |
dc.date.accessioned | 2014-07-03T10:44:13Z | |
dc.date.available | 2014-07-03T10:44:13Z | |
dc.date.issued | 2006 | |
dc.description.abstract | 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. | por |
dc.identifier | 10.1016/j.sigpro.2006.02.024 | |
dc.identifier.doi | 10.1016/j.sigpro.2006.02.024 | pt_PT |
dc.identifier.issn | 0165-1684 | |
dc.identifier.uri | http://hdl.handle.net/10400.22/4663 | |
dc.language.iso | eng | por |
dc.peerreviewed | yes | por |
dc.publisher | Elsevier | por |
dc.relation.ispartofseries | Signal Processing; Vol. 86, Issue 10 | |
dc.relation.publisherversion | http://www.sciencedirect.com/science/article/pii/S0165168406000636 | por |
dc.subject | Hexapod robot | por |
dc.subject | Fractional-order dynamics | por |
dc.subject | Fractional calculus | por |
dc.subject | Locomotion | por |
dc.subject | Modelling | por |
dc.subject | Simulation | por |
dc.subject | PD control | por |
dc.title | Complex-order dynamics in hexapod locomotion | por |
dc.type | journal article | |
dspace.entity.type | Publication | |
oaire.citation.endPage | 2793 | por |
oaire.citation.issue | Issue 10 | por |
oaire.citation.startPage | 2785 | por |
oaire.citation.title | Signal Processing | por |
oaire.citation.volume | Vol. 86 | por |
person.familyName | Silva | |
person.familyName | Tenreiro Machado | |
person.familyName | Barbosa | |
person.givenName | Manuel | |
person.givenName | J. A. | |
person.givenName | Ramiro | |
person.identifier | R-000-A3Q | |
person.identifier | 156328 | |
person.identifier.ciencia-id | AB11-C518-AF50 | |
person.identifier.ciencia-id | 7A18-4935-5B29 | |
person.identifier.ciencia-id | 9F1E-CA64-4C8B | |
person.identifier.orcid | 0000-0002-0593-2865 | |
person.identifier.orcid | 0000-0003-4274-4879 | |
person.identifier.orcid | 0000-0001-7410-8872 | |
person.identifier.rid | M-5767-2013 | |
person.identifier.rid | M-2173-2013 | |
person.identifier.scopus-author-id | 55934287000 | |
person.identifier.scopus-author-id | 55989030100 | |
person.identifier.scopus-author-id | 8582675300 | |
rcaap.rights | openAccess | por |
rcaap.type | article | por |
relation.isAuthorOfPublication | 06ad158b-a73e-4c2e-9ea6-5c023ba9b4cc | |
relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
relation.isAuthorOfPublication | ae867f98-4683-47cf-910d-16d5cd4517ba | |
relation.isAuthorOfPublication.latestForDiscovery | 06ad158b-a73e-4c2e-9ea6-5c023ba9b4cc |