Position/force control of biped walking robots

Silva, Filipe; Machado, J.A.T.

doi:10.1109/icsmc.2000.886512

Cited by 12 publications

(12 citation statements)

References 10 publications

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“…To tune the controller we adopt a systematic method, testing and evaluating a grid of several possible combinations of controller parameters, while establishing a compromise in what concerns the simultaneous minimization of the mean absolute energy per travelled distance and the hips trajectory following errors [23].…”

Section: Controller Tuning Methodologymentioning

confidence: 99%

“…On a previous work it was demonstrated the superior performance of introducing force feedback and this was highlighted for the case of having nonideal actuators with saturation or variable ground characteristics [23].…”

Section: Control Architecturementioning

confidence: 99%

“…1) through a non-linear system [23] with linear stiffness K ZF and non-linear damping B ZF ðZ ¼ fx; yg in the {horizontal, vertical} directions, respectively) yielding:…”

Section: Foot-ground Interaction Modelmentioning

confidence: 99%

“…The values for the parameters K ZF and B ZF (Table 1) are based on the studies of soil mechanics [23].…”

Section: Foot-ground Interaction Modelmentioning

confidence: 99%

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Complex-order dynamics in hexapod locomotion

2006

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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 springdashpot system, with parameters based on the studies of soil mechanics. Moreover, it is adopted an algorithm with footforce 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. r

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Section: Controller Tuning Methodologymentioning

confidence: 99%

Section: Control Architecturementioning

confidence: 99%

“…1) through a non-linear system [23] with linear stiffness K ZF and non-linear damping B ZF ðZ ¼ fx; yg in the {horizontal, vertical} directions, respectively) yielding:…”

Section: Foot-ground Interaction Modelmentioning

confidence: 99%

“…The values for the parameters K ZF and B ZF (Table 1) are based on the studies of soil mechanics [23].…”

Section: Foot-ground Interaction Modelmentioning

confidence: 99%

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Complex-order dynamics in hexapod locomotion

2006

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“…Regarding the feet trajectories, on a previous work we evaluated two alternative space-time foot trajectories, namely a cycloidal and a sinusoidal function [10]. It was demonstrated that the cycloid is superior, because it improves the hip and foot trajectory tracking, while minimising the corresponding joint torques.…”

Section: Kinematics and Trajectory Planningmentioning

confidence: 99%

Gait selection for quadruped and hexapod walking systems

Silva

Machado

Lopes³

et al.

Second IEEE International Conference on Computational Cybernetics, 2004. ICCC 2004.

Self Cite

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-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.

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A novel scheme for time‐fractional semi‐relativistic Vlasov–Maxwell system based on laser‐plasma interaction with linear polarization and Landau damping instability

Zubair

Usman

2020

Numerical Methods Partial

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The Vlasov–Maxwell system is a revolutionary tool to model and analyze the dynamic behavior of the collisionless plasma in the existence of the electromagnetic field. In this perspective, the investigation of this system with the concept of the time‐fractional derivative is the new benchmark and also one of the main objectives of this article. To construct the numerical solution, we propose and implement a novel scheme which grounded on finite‐difference and spectral approximations. The temporal variables are tackled by using finite‐difference approximations, whereas spatial variables approximated via sifted Gegenbauer polynomials. Various simulations are performed to explore new phenomena, demonstrate the accuracy and reliability of the proposed method. Convergence, error bound and stability of the suggested methods are investigated numerically. Moreover, the developed method can be used conveniently to examine the numerical solution of other multidimensional highly nonlinear fractional or variable order problems of physical nature.

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Position/force control of biped walking robots

Cited by 12 publications

References 10 publications

Complex-order dynamics in hexapod locomotion

Complex-order dynamics in hexapod locomotion

Gait selection for quadruped and hexapod walking systems

A novel scheme for time‐fractional semi‐relativistic Vlasov–Maxwell system based on laser‐plasma interaction with linear polarization and Landau damping instability

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