Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach

Buoyance forces are part of the fundamental physical resistances that act on moving or swimming objects in the ocean environment. For the case of multi-legged robot, such as hexapod walking on the seabed, buoyance affects the horizontal stability if the motion of the robot’s foot does not have suffi...

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Main Authors:	Alam, Md. Moktadir, Irawan, Addie, Yee, Yin Tan
Format:	Article
Language:	English
Published:	NISCAIR PUBLICATIONS 2015
Subjects:	TC Hydraulic engineering. Ocean engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/13737/ http://umpir.ump.edu.my/id/eprint/13737/ http://umpir.ump.edu.my/id/eprint/13737/1/fkee-2015-Buoyancy%20Effect%20Control%20in%20Multi%20Legged%20Robot%20Locomotion%20on%20Seabed%20using%20Integrated.pdf

id	ump-13737
recordtype	eprints
spelling	ump-137372018-04-18T01:50:35Z http://umpir.ump.edu.my/id/eprint/13737/ Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach Alam, Md. Moktadir Irawan, Addie Yee, Yin Tan TC Hydraulic engineering. Ocean engineering Buoyance forces are part of the fundamental physical resistances that act on moving or swimming objects in the ocean environment. For the case of multi-legged robot, such as hexapod walking on the seabed, buoyance affects the horizontal stability if the motion of the robot’s foot does not have sufficient force to step on the bottom of the seabed. Therefore, this study is carried out by integrating a derived Center of Mass (CoM)-based impedance control with fuzzy logic control to cater for the dynamic state that blended with underwater buoyance forces on the motion of the hexapod’s foot. This integrated control strategy is designed, modeled and verified on the real-time based 4-degree of freedom (DoF) leg configuration of a hexapod robot model with buoyancy force model as force disturbances. The scope of analysis is focused on verifying the stiffness of undersea bottom soil with the tripod walking pattern, the vertical foot motion of the leg, and the body mass coordination movement during locomotion period. NISCAIR PUBLICATIONS 2015-12-31 Article NonPeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/13737/1/fkee-2015-Buoyancy%20Effect%20Control%20in%20Multi%20Legged%20Robot%20Locomotion%20on%20Seabed%20using%20Integrated.pdf Alam, Md. Moktadir and Irawan, Addie and Yee, Yin Tan (2015) Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach. Indian Journal of Geo-Marine Sciences (IJMS), 44 (12). pp. 1937-1945. ISSN 0975-1033 http://nopr.niscair.res.in/handle/123456789/34945
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English
topic	TC Hydraulic engineering. Ocean engineering
spellingShingle	TC Hydraulic engineering. Ocean engineering Alam, Md. Moktadir Irawan, Addie Yee, Yin Tan Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
description	Buoyance forces are part of the fundamental physical resistances that act on moving or swimming objects in the ocean environment. For the case of multi-legged robot, such as hexapod walking on the seabed, buoyance affects the horizontal stability if the motion of the robot’s foot does not have sufficient force to step on the bottom of the seabed. Therefore, this study is carried out by integrating a derived Center of Mass (CoM)-based impedance control with fuzzy logic control to cater for the dynamic state that blended with underwater buoyance forces on the motion of the hexapod’s foot. This integrated control strategy is designed, modeled and verified on the real-time based 4-degree of freedom (DoF) leg configuration of a hexapod robot model with buoyancy force model as force disturbances. The scope of analysis is focused on verifying the stiffness of undersea bottom soil with the tripod walking pattern, the vertical foot motion of the leg, and the body mass coordination movement during locomotion period.
format	Article
author	Alam, Md. Moktadir Irawan, Addie Yee, Yin Tan
author_facet	Alam, Md. Moktadir Irawan, Addie Yee, Yin Tan
author_sort	Alam, Md. Moktadir
title	Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
title_short	Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
title_full	Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
title_fullStr	Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
title_full_unstemmed	Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
title_sort	buoyancy effect control in multi legged robot locomotion on seabed using integrated impedance-fuzzy logic approach
publisher	NISCAIR PUBLICATIONS
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/13737/ http://umpir.ump.edu.my/id/eprint/13737/ http://umpir.ump.edu.my/id/eprint/13737/1/fkee-2015-Buoyancy%20Effect%20Control%20in%20Multi%20Legged%20Robot%20Locomotion%20on%20Seabed%20using%20Integrated.pdf
first_indexed	2023-09-18T22:16:41Z
last_indexed	2023-09-18T22:16:41Z
_version_	1777415384021860352

Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach

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