| dc.contributor | | es-ES |
| dc.creator | Uchida, Hiroaki | |
| dc.date | 2018-11-26 | |
| dc.date.accessioned | 2018-12-04T14:32:08Z | |
| dc.date.available | 2018-12-04T14:32:08Z | |
| dc.identifier | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1885 | |
| dc.identifier.uri | http://ridda2.utp.ac.pa/handle/123456789/5703 | |
| dc.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. | es-ES |
| dc.format | application/pdf | |
| dc.language | spa | |
| dc.publisher | Universidad Tecnológica de Panamá | es-ES |
| dc.relation | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1885/2831 | |
| dc.rights | info:eu-repo/semantics/openAccess | |
| dc.rights | https://creativecommons.org/licenses/by-nc-sa/4.0/ | |
| dc.source | Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 117-124 | es-ES |
| dc.subject | Six-legged robot; Posture control; Optimization; Optimum servo control | es-ES |
| dc.title | Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot | es-ES |
| dc.type | info:eu-repo/semantics/article | |
| dc.type | info:eu-repo/semantics/publishedVersion | |
