Complex-order dynamics in hexapod locomotion

Authors:
Manuel F. Silva;J. A. Tenreiro Machado;Ramiro S. Barbosa
Affiliations:
Department of Electrical Engineering, Institute of Engineering of Porto, Porto, Portugal;Department of Electrical Engineering, Institute of Engineering of Porto, Porto, Portugal;Department of Electrical Engineering, Institute of Engineering of Porto, Porto, Portugal
Venue:
Signal Processing - Fractional calculus applications in signals and systems
Year:
2006

Citing 5
Cited 2

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Abstract

This paper studies the dynamics of foot-ground interaction in hexapod locomotion systems. For that objective the robot motion is characterized in terms of several locomotion variables and the ground is modelled through a non-linear spring-dashpot system, with parameters based on the studies of soil mechanics. Moreover, it is adopted an algorithm with foot-force feedback to control the robot locomotion. A set of model-based experiments reveals the influence of the locomotion velocity on the foot-ground transfer function, which presents complex-order dynamics.