{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,13]],"date-time":"2025-11-13T06:51:57Z","timestamp":1763016717375,"version":"3.38.0"},"reference-count":28,"publisher":"SAGE Publications","issue":"12","license":[{"start":{"date-parts":[[2006,12,1]],"date-time":"2006-12-01T00:00:00Z","timestamp":1164931200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Vibration and Control"],"published-print":{"date-parts":[[2006,12]]},"abstract":"<jats:p> This paper studies a fractional order proportional and derivative controller for a hexapod robot, having legs with three DoF and joint actuators with saturation, when walking over ground with varying properties. A simulation model is developed and the robot motion is characterized in terms of several locomotion variables. Two indices measure the walking performance based on the mean absolute density of energy per unit distance travelled and on the hip trajectory errors. A set of experiments reveal the influence of different controller tunings on the proposed indices, for different locomotion conditions. <\/jats:p>","DOI":"10.1177\/1077546306070608","type":"journal-article","created":{"date-parts":[[2006,12,11]],"date-time":"2006-12-11T10:11:58Z","timestamp":1165831918000},"page":"1483-1501","source":"Crossref","is-referenced-by-count":46,"title":["Fractional Order PD<sup>\u03b1<\/sup>Joint Control of Legged Robots"],"prefix":"10.1177","volume":"12","author":[{"given":"Manuel F.","family":"Silva","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Institute of Engineering of Porto,                         Rua Dr. Ant\u00f3nio Bernardino de Almeida, 4200-072 Porto, Portugal,"}]},{"given":"J. A. Tenreiro","family":"Machado","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, Institute of Engineering of Porto,                         Rua Dr. Ant\u00f3nio Bernardino de Almeida, 4200-072 Porto, Portugal"}]}],"member":"179","published-online":{"date-parts":[[2006,12,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900205"},{"volume-title":"\u201cHow animals move,\u201d","year":"1995","author":"Alexander, R. McN.","key":"atypb2"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1016\/j.sigpro.2006.02.005"},{"first-page":"429","volume-title":"Proceedings of the 5th International Workshop on Advanced Motion Control","author":"Berns, K.","key":"atypb4"},{"volume-title":"Proceedings of the ASME 19th Biennial Conference on Mechanical Vibration and Noise (VIB 2003)","author":"Bhat, R. 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