Publication
Position/Force control of a walking robot
| dc.contributor.author | Silva, Manuel | |
| dc.contributor.author | Tenreiro Machado, J. A. | |
| dc.contributor.author | Lopes, António M. | |
| dc.date.accessioned | 2019-04-09T15:27:29Z | |
| dc.date.available | 2019-04-09T15:27:29Z | |
| dc.date.issued | 2003 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.version | N/A | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/13505 | |
| dc.language.iso | eng | pt_PT |
| dc.subject | Walking robots | pt_PT |
| dc.subject | Control algorithms | pt_PT |
| dc.subject | PID Control Algorithm | pt_PT |
| dc.subject | Cascade control | pt_PT |
| dc.title | Position/Force control of a walking robot | pt_PT |
| dc.type | journal article | |
| dspace.entity.type | Publication | |
| oaire.citation.endPage | 44 | pt_PT |
| oaire.citation.startPage | 33 | pt_PT |
| oaire.citation.title | Machine Intelligence & Robotic Control | pt_PT |
| oaire.citation.volume | 5 | 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 | openAccess | pt_PT |
| rcaap.type | article | pt_PT |
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| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |