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2016 | OriginalPaper | Buchkapitel

Nonlinear Controller of Arachnid Mechanism Based on Theo Jansen

verfasst von : Víctor H. Andaluz, David Pérez, Darwin Sáchez, Cristina Bucay, Carlos Sáchez, Vicente Morales, David Rivas

Erschienen in: Social Robotics

Verlag: Springer International Publishing

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Abstract

This paper presents a new motion controller for arachnid mechanism based on Theo Jansen that is capable of performing path-following tasks. The proposed controller has the advantage of simultaneously performing the approximation of the arachnid robot to the proposed path by the shortest route and limiting its velocity. Furthermore, it is presents the kinematic modeling of the arachnid mechanism where it is considered that its mass center is located at the legs’ axis center of the robot. In addition, the stability is proven through Lyapunov’s method. To validate the proposed control algorithm, experimental results are included and discussed.

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Metadaten
Titel
Nonlinear Controller of Arachnid Mechanism Based on Theo Jansen
verfasst von
Víctor H. Andaluz
David Pérez
Darwin Sáchez
Cristina Bucay
Carlos Sáchez
Vicente Morales
David Rivas
Copyright-Jahr
2016
DOI
https://doi.org/10.1007/978-3-319-47437-3_32