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Descripción
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| A method to generate movements in a snake robot using proportional-integral-derivate controllers (PID) and adjust the constants values to be natural is proposed. Specifically, the method is applied to adjust the movement of a snake robot to natural postures defining a simplify PID controller and adjusting the constants values of the controller. Our approach is based on proportional-integral-derivate controllers, using genetics algorithms to solve the problem. In this paper we explain how adjust the restrictions that must be accomplished for generate a natural movement and make an exhaustive study about snake robots, proportional-integral-derivate controllers and genetics algorithms. | |
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Internacional
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Si |
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DOI
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http://dx.doi.org/10.1007/978-3-540-74972-1_23 |
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Edición del Libro
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44 |
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Editorial del Libro
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Springer |
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ISBN
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978-3-540-74971-4 |
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Serie
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Título del Libro
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Advances in Soft Computing |
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Desde página
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167 |
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Hasta página
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174 |