Title :
Fourier analysis of multi-legged periodic gaits
Author :
Rodrigues, Carlos M. B. ; Tenreiro Machado, J.A.
Author_Institution :
Dept. of Control & Autom., Modern Univ., Portugal
Abstract :
This paper analyses periodic gaits of multi-legged locomotion systems. The joint signals are studied in the Fourier domain, namely from the point of view of its reproducibility through low-pass actuators. The influence of several parameters is also considered and their critical values are investigated.
Keywords :
Fourier analysis; actuators; legged locomotion; Fourier analysis; Fourier domain; joint signals; low-pass actuators; multilegged locomotion systems; multilegged periodic gaits; Actuators; Convergence; Fourier series; Joints; Legged locomotion; Stability analysis; Trajectory; Mobile Robots; Robot Motion Control; Robotics and Mechatronics;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
