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.
Cite
CITATION STYLE
Silva, M. F., Tenreiro Machado, J. A., & Lopes, A. M. (2005). Integer vs. Fractional Order Control of a Hexapod Robot. In Climbing and Walking Robots (pp. 73–83). Springer Berlin Heidelberg. https://doi.org/10.1007/3-540-29461-9_5
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