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Modelling and simulation of artificial locomotion systems

Published online by Cambridge University Press:  23 August 2005

Manuel F. Silva ,
J. A. Tenreiro Machado  and
António M. Lopes
Manuel F. Silva
Affiliation:
Department of Electrical Engineering, Institute of Engineering of Porto, 4200-072 Porto, (Portugal). E-mail: mfsilva@dee.isep.ipp.pt, jtm@dee.isep.ipp.pt
J. A. Tenreiro Machado
Affiliation:
Department of Electrical Engineering, Institute of Engineering of Porto, 4200-072 Porto, (Portugal). E-mail: mfsilva@dee.isep.ipp.pt, jtm@dee.isep.ipp.pt
António M. Lopes
Affiliation:
Department of Mechanical Engineering, Faculty of Engineering of Porto, 4200-465 Porto, (Portugal). E-mail: aml@fe.up.pt
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Abstract

This paper describes a simulation model for a multi-legged locomotion system with joints at the legs having viscous friction, flexibility and backlash. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. Moreover, the robot body is divided into several segments in order to emulate the behaviour of an animal spine. The foot-ground interaction is modelled through a non-linear spring-dashpot system whose parameters are extracted from the studies on soil mechanics. To conclude, the performance of the developed simulation model is evaluated through a set of experiments while the robot leg joints are controlled using fractional order algorithms.

Keywords

RoboticsWalkingDynamic modellingKinematicsSimulationSaturationFrictionBacklashFractional calculus
Type
Research Article
Information
Robotica , Volume 23 , Issue 5 , September 2005 , pp. 595 - 606
Copyright
© 2005 Cambridge University Press

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