ODE Based Joint Controller Design For Legged Robots
Streszczenie
"On legged robot controller design researchers mostly use a dynamic model for adjusting the controller parameters. The dynamic model of legged mobile robots has highly complex and nonlinear equations. With physics simulators like Open Dynamics Engine
(ODE) this modeling can be accomplished simply by using iterative methods without the need for analytic solution of complex equations. In this investigation a real-time model based structure is preferred for legged robot control. The dynamic model required for
model-reference adaptive control is designed as discrete-time by using ODE. This paper focuses on proving that the joint controllers used in model-based control work correctly when ODE is selected as reference model. In addition to this, the developed ODE based
identical joint controllers for six legged robot has explained. The results of proposed discrete time P, PI, PID controllers are given in details on graphs."
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