Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot
- Authors
- Uchida, Hiroaki
- Format
- Article
- Status
- publishedVersion
- Description
In 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.
- Publication Year
- 2018
- Language
- spa
- Topic
- Six-legged robot; Posture control; Optimization; Optimum servo control
- Repository
- RI de Documento Digitales de Acceso Abierto de la UTP
- Get full text
- http://revistas.utp.ac.pa/index.php/memoutp/article/view/1885
http://ridda2.utp.ac.pa/handle/123456789/5703
- Rights
- openAccess
- License
- https://creativecommons.org/licenses/by-nc-sa/4.0/