Abstract
This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The walking performance is analysed through the Nyquist stability criterion and several indices that reflect the system dynamical properties. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics.

Abstract
This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The controller performance is analised through the Nyquist stability criterion. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics.

Abstract
This paper studies periodic gaits of multi-legged robot locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables that minimizes the optimization indices. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, leg links length, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate four performance measures of the walking robot namely, the foot locomobility index, the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model-based experiments reveals the influence of the locomotion variables in the proposed indices. Copyright © 2002 IFAC.

Abstract

Abstract
This paper studies periodic gaits of quadruped and hexapod locomotion systems. The purpose is to determine the best set of gait and locomotion variables for different robot velocities based on the system dynamics during walking. In this perspective, several performance measures are formulated and a set of experiments that reveal the influence of the gait and locomotion variables upon those proposed indices are performed.

Abstract
This paper presents the Human-Machine Interface developed for the manual and automatic control of a wheeled climbing robot, with adhesion through permanent magnets. This machine has been developed with the intention of being used in the inspection of ferromagnetic structures, in order to, for instance, detect weaknesses due to corrosion. Although it can be manually controlled, the vehicle is designed to have a semi-autonomous behavior, allowing a remote inspection process controlled by a technician, this way reducing the risks associated with the human inspection of tall structures and ATEX places. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets in order to assure the machine adhesion to the surfaces, even while crossing irregular and curved surfaces.