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Advisor(s)
Abstract(s)
This paper analyzes the performance of a classical position PD algorithm and a new cascade controller, involving position and force feedback loops, for multi-legged locomotion systems. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. A group os indices measures the walking performance based on the robot and terrein dynamical properties and on the robot hit trajactories. A set of experiments reveals the performance of the control architectures in the viewpoint of the proposed indices.
Description
Keywords
Walking robots Control algorithms PID Control Algorithm Cascade control