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A Control Design with Differential Evolution Algorithm for a Screw-actuated Robotic Leg

Journal Name:

  • Journal of Control Engineering and Technology

Publication Year:

  • 2011

Key Words:

Author NameUniversity of Author
Abstract (2. Language): 
In a recent past, research activities have been carried out for developing a six-legged robot at LARM: Laboratory of Robotics and Mechatronics in Cassino. The proposed designs have been conceived with the aim of achieving suitable mechanism structures and architectures with low-cost and user-friendly features. Simulations and experimental tests have been developed by referring to a novel leg design in order to characterize both the walking operation and design characteristics for a suitable control strategy. In this work, we propose a control architecture that has been set up by using a proper algorithm based on evolution strategies. Successful simulation results h
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  • 2
65-75
  • English

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Journal of Control Engineering and Technology (JCET)
JCET Vol.1 No.2 October 2011 PP.65-75 www.ijcet.org ○C World Academic Publishing
75
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