Abstract

Abstract

Abstract
This paper studies a fractional order proportional and derivative controller for a hexapod robot, having legs with three DoF and joint actuators with saturation, when walking over ground with varying properties. A simulation model is developed and the robot motion is characterized in terms of several locomotion variables. Two indices measure the walking performance based on the mean absolute density of energy per unit distance travelled and on the hip trajectory errors. A set of experiments reveal the influence of different controller tunings on the proposed indices, for different locomotion conditions.

Abstract

Abstract
This paper studies periodic gaits of quadruped locomotion systems. The purpose is to determine the best set of gait and locomotion variables during walking, for different robot velocities, based on two formulated performance measures. A set of experiments reveals the influence of the gait and locomotion variables upon the proposed indices, namely that the gait and the locomotion parameters should be adapted to the robot forward velocity.

Abstract
This paper studies the performance of a Fractional Order PD a controller in a hexapod robot with three dof legs and leg joint actuators having saturation. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, two indices measure the walking performance based on the mean absolute density of energy per travelled distance and on the hip trajectory errors. A set of simulation experiments reveals the influence of the different controller tuning upon the proposed indices. Copyright © 2006 IFAC.