Controller tuning for a four-legged locomotion robot
The aim of this paper is to present the lower level control system that is used to drive the 12 DOFs of a four-legged locomotion robot, Rimho. Focusing on the discontinuous gait, and from the digital control point of view, three main dynamic phases are identified, and the research is concentrated on...
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| container_end_page | 93 vol.2 |
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| creator | Armada, M.A. Aliane, N. Gonzalez de Santos, P. Jimenez, M.A. |
| description | The aim of this paper is to present the lower level control system that is used to drive the 12 DOFs of a four-legged locomotion robot, Rimho. Focusing on the discontinuous gait, and from the digital control point of view, three main dynamic phases are identified, and the research is concentrated on the individual tuning of the twelve controllers, so that all joints present quite similar time response characteristics. After that, a realistic, simple and very practical approach consisting in the updating of the digital filter parameter setting along the different gait phases is adopted, and its behaviour is illustrated by means of several experimental results.< > |
| doi_str_mv | 10.1109/ICSMC.1993.384855 |
| format | Conference Proceeding |
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After that, a realistic, simple and very practical approach consisting in the updating of the digital filter parameter setting along the different gait phases is adopted, and its behaviour is illustrated by means of several experimental results.< ></description><identifier>ISBN: 9780780309111</identifier><identifier>ISBN: 0780309111</identifier><identifier>DOI: 10.1109/ICSMC.1993.384855</identifier><language>eng</language><publisher>IEEE</publisher><subject>Automatic control ; Control systems ; Digital control ; Hardware ; Leg ; Legged locomotion ; Optical sensors ; Robot sensing systems ; Robotics and automation ; Service robots</subject><ispartof>IEEE International Conference on Systems, Man and Cybernetics, 1993, 1993, Vol.2, p.89-93 vol.2</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/384855$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,314,780,784,789,790,2058,4050,4051,27924,27925,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/384855$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Armada, M.A.</creatorcontrib><creatorcontrib>Aliane, N.</creatorcontrib><creatorcontrib>Gonzalez de Santos, P.</creatorcontrib><creatorcontrib>Jimenez, M.A.</creatorcontrib><title>Controller tuning for a four-legged locomotion robot</title><title>IEEE International Conference on Systems, Man and Cybernetics, 1993</title><addtitle>ICSMC</addtitle><description>The aim of this paper is to present the lower level control system that is used to drive the 12 DOFs of a four-legged locomotion robot, Rimho. Focusing on the discontinuous gait, and from the digital control point of view, three main dynamic phases are identified, and the research is concentrated on the individual tuning of the twelve controllers, so that all joints present quite similar time response characteristics. After that, a realistic, simple and very practical approach consisting in the updating of the digital filter parameter setting along the different gait phases is adopted, and its behaviour is illustrated by means of several experimental results.< ></description><subject>Automatic control</subject><subject>Control systems</subject><subject>Digital control</subject><subject>Hardware</subject><subject>Leg</subject><subject>Legged locomotion</subject><subject>Optical sensors</subject><subject>Robot sensing systems</subject><subject>Robotics and automation</subject><subject>Service robots</subject><isbn>9780780309111</isbn><isbn>0780309111</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1993</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotUEtLxDAYDIigrP0BeurJW2u-5n2U4mNhxYN6LkmblEjarEl78N9bqMMwcxmGYRC6BVwDYPVwbD_e2hqUIjWRVDJ2gQolJN5IsAKAK1Tk_I03UIaVEteItnFeUgzBpnJZZz-PpYup1JuuqQp2HO1QhtjHKS4-zmWKJi436NLpkG3x7wf09fz02b5Wp_eXY_t4qjyAXKpBcecG2nMGlDklAIMxWstGGee2VcCpUD21QtCBas6wxLLhxhluJKaYkQO633vPKf6sNi_d5HNvQ9CzjWvuGqYYpQS24N0e9Nba7pz8pNNvt39A_gCWblDJ</recordid><startdate>1993</startdate><enddate>1993</enddate><creator>Armada, M.A.</creator><creator>Aliane, N.</creator><creator>Gonzalez de Santos, P.</creator><creator>Jimenez, M.A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope><scope>7SP</scope><scope>8FD</scope><scope>L7M</scope></search><sort><creationdate>1993</creationdate><title>Controller tuning for a four-legged locomotion robot</title><author>Armada, M.A. ; Aliane, N. ; Gonzalez de Santos, P. ; Jimenez, M.A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i118t-d96ffd4c65145f97101bbaa829bff80716479c4e774d4a65080826bfb6b804053</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1993</creationdate><topic>Automatic control</topic><topic>Control systems</topic><topic>Digital control</topic><topic>Hardware</topic><topic>Leg</topic><topic>Legged locomotion</topic><topic>Optical sensors</topic><topic>Robot sensing systems</topic><topic>Robotics and automation</topic><topic>Service robots</topic><toplevel>online_resources</toplevel><creatorcontrib>Armada, M.A.</creatorcontrib><creatorcontrib>Aliane, N.</creatorcontrib><creatorcontrib>Gonzalez de Santos, P.</creatorcontrib><creatorcontrib>Jimenez, M.A.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Armada, M.A.</au><au>Aliane, N.</au><au>Gonzalez de Santos, P.</au><au>Jimenez, M.A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Controller tuning for a four-legged locomotion robot</atitle><btitle>IEEE International Conference on Systems, Man and Cybernetics, 1993</btitle><stitle>ICSMC</stitle><date>1993</date><risdate>1993</risdate><volume>2</volume><spage>89</spage><epage>93 vol.2</epage><pages>89-93 vol.2</pages><isbn>9780780309111</isbn><isbn>0780309111</isbn><abstract>The aim of this paper is to present the lower level control system that is used to drive the 12 DOFs of a four-legged locomotion robot, Rimho. Focusing on the discontinuous gait, and from the digital control point of view, three main dynamic phases are identified, and the research is concentrated on the individual tuning of the twelve controllers, so that all joints present quite similar time response characteristics. After that, a realistic, simple and very practical approach consisting in the updating of the digital filter parameter setting along the different gait phases is adopted, and its behaviour is illustrated by means of several experimental results.< ></abstract><pub>IEEE</pub><doi>10.1109/ICSMC.1993.384855</doi></addata></record> |
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| identifier | ISBN: 9780780309111 |
| ispartof | IEEE International Conference on Systems, Man and Cybernetics, 1993, 1993, Vol.2, p.89-93 vol.2 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Automatic control Control systems Digital control Hardware Leg Legged locomotion Optical sensors Robot sensing systems Robotics and automation Service robots |
| title | Controller tuning for a four-legged locomotion robot |
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