کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
565036 875668 2006 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Complex-order dynamics in hexapod locomotion
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر پردازش سیگنال
پیش نمایش صفحه اول مقاله
Complex-order dynamics in hexapod locomotion
چکیده انگلیسی

This paper studies the dynamics of foot–ground interaction in hexapod locomotion systems. For that objective the robot motion is characterized in terms of several locomotion variables and the ground is modelled through a non-linear spring-dashpot system, with parameters based on the studies of soil mechanics. Moreover, it is adopted an algorithm with foot-force feedback to control the robot locomotion. A set of model-based experiments reveals the influence of the locomotion velocity on the foot–ground transfer function, which presents complex-order dynamics.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Signal Processing - Volume 86, Issue 10, October 2006, Pages 2785–2793
نویسندگان
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