Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot
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...
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| Formatua: | article |
| Hizkuntza: | gaztelania |
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2018
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| Sarrera elektronikoa: | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1885 http://ridda2.utp.ac.pa/handle/123456789/5703 |
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| _version_ | 1869652458357129216 |
|---|---|
| author | Uchida, Hiroaki |
| author_browse | Uchida, Hiroaki |
| author_facet | Uchida, Hiroaki |
| author_role | author |
| collection | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| dc.contributor.none.fl_str_mv | |
| dc.creator.none.fl_str_mv | Uchida, Hiroaki |
| dc.date.none.fl_str_mv | 2018-11-26 2018-12-04T14:32:08Z 2018-12-04T14:32:08Z |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1885 http://ridda2.utp.ac.pa/handle/123456789/5703 |
| dc.language.none.fl_str_mv | spa |
| dc.publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| dc.relation.none.fl_str_mv | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1885/2831 |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| dc.source.none.fl_str_mv | 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 reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTP instname:Universidad Tecnológica de Panamá instacron:U Tecnológica de Panamá |
| dc.subject.none.fl_str_mv | Six-legged robot; Posture control; Optimization; Optimum servo control |
| dc.title.none.fl_str_mv | Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/article info:eu-repo/semantics/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. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | lrtest_26f7c7d25a49cff6ba56fdbdcbfe60b7 |
| instacron_str | U Tecnológica de Panamá |
| institution | U Tecnológica de Panamá |
| instname_str | Universidad Tecnológica de Panamá |
| language | spa |
| network_acronym_str | lrtest |
| network_name_str | lr |
| oai_identifier_str | oai:ridda2.utp.ac.pa:123456789/5703 |
| publishDate | 2018 |
| publishDateSort | 2018 |
| publisher.none.fl_str_mv | Universidad Tecnológica de Panamá |
| reponame_str | Repositorio Institucional de documento digitales de acceso abierto de la UTP |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | https://creativecommons.org/licenses/by-nc-sa/4.0/ |
| spelling | Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged RobotUchida, HiroakiSix-legged robot; Posture control; Optimization; Optimum servo controlIn 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.Universidad Tecnológica de Panamá2018-11-262018-12-04T14:32:08Z2018-12-04T14:32:08Zinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1885http://ridda2.utp.ac.pa/handle/123456789/5703Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 117-124reponame:Repositorio Institucional de documento digitales de acceso abierto de la UTPinstname:Universidad Tecnológica de Panamáinstacron:U Tecnológica de Panamáspahttp://revistas.utp.ac.pa/index.php/memoutp/article/view/1885/2831info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/4.0/oai:ridda2.utp.ac.pa:123456789/57032019-11-29T17:34:15Z |
| spellingShingle | Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot Uchida, Hiroaki Six-legged robot; Posture control; Optimization; Optimum servo control |
| status_str | publishedVersion |
| title | Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot |
| title_full | Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot |
| title_fullStr | Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot |
| title_full_unstemmed | Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot |
| title_short | Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot |
| title_sort | Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot |
| topic | Six-legged robot; Posture control; Optimization; Optimum servo control |
| url | http://revistas.utp.ac.pa/index.php/memoutp/article/view/1885 http://ridda2.utp.ac.pa/handle/123456789/5703 |