Panamá | info:eu-repo/semantics/article

Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot

dc.creatorUchida, Hiroaki
dc.date2018-11-26
dc.date.accessioned2023-08-07T20:09:02Z
dc.date.available2023-08-07T20:09:02Z
dc.identifierhttps://revistas.utp.ac.pa/index.php/memoutp/article/view/1885
dc.identifier.urihttps://repositorioslatinoamericanos.uchile.cl/handle/2250/7940498
dc.descriptionIn this study, an optimization method of feedback control inputs for a posture control of a six-legged robot was developed. The authors had proposed a method to control using an optimum servo system as a posture control method of a six-legged robot. As a problem of this method, because the feedback (FB) gain was switched at the time of switching the swing leg, the control inputs becomes discontinuous and there was a problem that the posture variation increases. After that, FB inputs of the thigh link obtained by optimum servo system were optimized. Then, we design a control system that suppressed the posture variation that occurs during swing leg switching. The effectiveness of the proposed control method was confirmed using a 3D model of a six-legged robot.es-ES
dc.formatapplication/pdf
dc.languagespa
dc.publisherUniversidad Tecnológica de Panamáes-ES
dc.relationhttps://revistas.utp.ac.pa/index.php/memoutp/article/view/1885/2831
dc.rightsDerechos de autor 2018 Memorias de Congresos UTPes-ES
dc.rightshttp://creativecommons.org/licenses/by-nc-nd/4.0es-ES
dc.sourceMemorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 117-124es-ES
dc.titleOptimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robotes-ES
dc.typeinfo:eu-repo/semantics/article
dc.typeinfo:eu-repo/semantics/publishedVersion
dc.typeArtículo revisado por pareses-ES


Este ítem pertenece a la siguiente institución