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

Uchida, Hiroaki

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

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2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018 [52]
CLAWAR 2018: 21st International Conference. Panama City, Panama during 10 – 12 September 2018.

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