Hexapod Control through a Fractional Algorithm
نویسندگان
چکیده
This paper studies the performance of a Fractional Order controller in a hexapod robot with joint leg 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 experiments reveals the influence of the different controller tuning upon the proposed indices and on the feet trajectory tracking. Copyright 2004 IFAC
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Fractional Order Control of a Hexapod Robot
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