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

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Hiroaki Uchida
Enviado: Nov 27, 2018
Publicado: Nov 26, 2018

Resumen

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.

Palabras clave

Six-legged robot, Posture control, Optimization, Optimum servo control

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Cómo citar
Uchida, H. (2018). Optimization Of Feedback Control Inputs For Posture Control Of A Six-Legged Robot. Memorias De Congresos UTP, 1(1), 117-124. Recuperado a partir de http://revistas.utp.ac.pa/index.php/memoutp/article/view/1885