PD-like FLC with Admittance Control of Hexapod Robot’s Leg Vertical Positioning for Seabed Locomotion

This paper presents a proposed Proportional and Derivative (PD)-like Fuzzy Logic Control (FLC) (PD-FLC) on dynamic control for vertical positioning of Hexapod Robot walking on seabed environment. The study has been carried out by modeling the buoyancy force following the restoration force to ac...

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Main Authors: Irawan, Addie, Alam, Md. Moktadir
Format: Conference or Workshop Item
Language:English
English
Published: 2015
Subjects:
Online Access:http://umpir.ump.edu.my/id/eprint/10896/
http://umpir.ump.edu.my/id/eprint/10896/1/PD-like%20FLC%20with%20Admittance%20control%20of%20Hexapod%20robot%E2%80%99s%20leg%20vertical%20positioning%20for%20seabed%20locomotion.pdf
http://umpir.ump.edu.my/id/eprint/10896/7/fkee-2015-addie-PD-like%20FLC%20with%20Admittance.pdf
id ump-10896
recordtype eprints
spelling ump-108962018-04-18T02:19:27Z http://umpir.ump.edu.my/id/eprint/10896/ PD-like FLC with Admittance Control of Hexapod Robot’s Leg Vertical Positioning for Seabed Locomotion Irawan, Addie Alam, Md. Moktadir TP Chemical technology This paper presents a proposed Proportional and Derivative (PD)-like Fuzzy Logic Control (FLC) (PD-FLC) on dynamic control for vertical positioning of Hexapod Robot walking on seabed environment. The study has been carried out by modeling the buoyancy force following the restoration force to achieve the drowning level according to the Archimedes’ principle. The restoration force need to be positive in order to ensure robot locomotion is not affected by buoyancy factor. As for this force control solution, PD-FLC is used and integrated with admittance control that based on the total of force of foot placement by considering Center of Mass (CoM) of the robot during walking period. This integrated control technique is design and verify on the real-time based 4 degree of freedom (DoF) leg configuration of hexapod robot model. The scope of analysis is focus on walking on the varied stiffness of undersea bottom soil with tripod walking pattern. Moreover the verification is done on the vertical foot motion of the leg and the body mass coordination movement during walking period. The results shows that proposed PD-FLC admittance control able to cater the force restoration factor by making vertical force on each foot bigger enough (sufficient foot placement) if compare to the buoyancy force of the ocean, thus performing stable tripod walking on the seabed with uncertain stiffness. 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/10896/1/PD-like%20FLC%20with%20Admittance%20control%20of%20Hexapod%20robot%E2%80%99s%20leg%20vertical%20positioning%20for%20seabed%20locomotion.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/10896/7/fkee-2015-addie-PD-like%20FLC%20with%20Admittance.pdf Irawan, Addie and Alam, Md. Moktadir (2015) PD-like FLC with Admittance Control of Hexapod Robot’s Leg Vertical Positioning for Seabed Locomotion. In: The 10th Asian Control Conference (ASCC 2015), 31 May - 3 Jun 2015 , Kota Kinabalu, Sabah. . (Unpublished)
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
English
topic TP Chemical technology
spellingShingle TP Chemical technology
Irawan, Addie
Alam, Md. Moktadir
PD-like FLC with Admittance Control of Hexapod Robot’s Leg Vertical Positioning for Seabed Locomotion
description This paper presents a proposed Proportional and Derivative (PD)-like Fuzzy Logic Control (FLC) (PD-FLC) on dynamic control for vertical positioning of Hexapod Robot walking on seabed environment. The study has been carried out by modeling the buoyancy force following the restoration force to achieve the drowning level according to the Archimedes’ principle. The restoration force need to be positive in order to ensure robot locomotion is not affected by buoyancy factor. As for this force control solution, PD-FLC is used and integrated with admittance control that based on the total of force of foot placement by considering Center of Mass (CoM) of the robot during walking period. This integrated control technique is design and verify on the real-time based 4 degree of freedom (DoF) leg configuration of hexapod robot model. The scope of analysis is focus on walking on the varied stiffness of undersea bottom soil with tripod walking pattern. Moreover the verification is done on the vertical foot motion of the leg and the body mass coordination movement during walking period. The results shows that proposed PD-FLC admittance control able to cater the force restoration factor by making vertical force on each foot bigger enough (sufficient foot placement) if compare to the buoyancy force of the ocean, thus performing stable tripod walking on the seabed with uncertain stiffness.
format Conference or Workshop Item
author Irawan, Addie
Alam, Md. Moktadir
author_facet Irawan, Addie
Alam, Md. Moktadir
author_sort Irawan, Addie
title PD-like FLC with Admittance Control of Hexapod Robot’s Leg Vertical Positioning for Seabed Locomotion
title_short PD-like FLC with Admittance Control of Hexapod Robot’s Leg Vertical Positioning for Seabed Locomotion
title_full PD-like FLC with Admittance Control of Hexapod Robot’s Leg Vertical Positioning for Seabed Locomotion
title_fullStr PD-like FLC with Admittance Control of Hexapod Robot’s Leg Vertical Positioning for Seabed Locomotion
title_full_unstemmed PD-like FLC with Admittance Control of Hexapod Robot’s Leg Vertical Positioning for Seabed Locomotion
title_sort pd-like flc with admittance control of hexapod robot’s leg vertical positioning for seabed locomotion
publishDate 2015
url http://umpir.ump.edu.my/id/eprint/10896/
http://umpir.ump.edu.my/id/eprint/10896/1/PD-like%20FLC%20with%20Admittance%20control%20of%20Hexapod%20robot%E2%80%99s%20leg%20vertical%20positioning%20for%20seabed%20locomotion.pdf
http://umpir.ump.edu.my/id/eprint/10896/7/fkee-2015-addie-PD-like%20FLC%20with%20Admittance.pdf
first_indexed 2023-09-18T22:11:02Z
last_indexed 2023-09-18T22:11:02Z
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