PD-FLC with Admittance Control for Hexapod Robot's Leg Positioning on Seabed

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 modelling the buoyancy force following the restoration force to achiev...

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Main Authors:	Irawan, Addie, Alam, Md. Moktadir
Format:	Conference or Workshop Item
Language:	English English
Published:	SERSC 2015
Subjects:	TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://umpir.ump.edu.my/id/eprint/6279/ http://umpir.ump.edu.my/id/eprint/6279/ http://umpir.ump.edu.my/id/eprint/6279/ http://umpir.ump.edu.my/id/eprint/6279/1/PD-FLC%20with%20admittance%20control%20for%20hexapod%20robot%27s%20leg%20positioning%20on%20seabed.pdf http://umpir.ump.edu.my/id/eprint/6279/7/PD-FLC%20with%20Admittance%20Control%20for%20Hexapod%20Robot%E2%80%99s%20Leg%20Positioning%20on%20Seabed.pdf

id	ump-6279
recordtype	eprints
spelling	ump-62792018-04-18T02:18:26Z http://umpir.ump.edu.my/id/eprint/6279/ PD-FLC with Admittance Control for Hexapod Robot's Leg Positioning on Seabed Irawan, Addie Alam, Md. Moktadir TK Electrical engineering. Electronics Nuclear engineering 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 modelling the buoyancy force following the restoration force to achieve the drowning level according to Archimedes' principle. The restoration force need to be positive in order to ensure robot locomotion is not affected by buoyancy factor. As a solution to control this force, PD-FLC is used and integrated with admittance control that is based on the total force acting on foot placement by considering Center of Mass (CoM) of the robot during walking period. The integrated control technique is verified on a real-time based 4 degree of freedom (DoF) leg configuration of hexapod robot model. The scope of analysis is focused on walking on the varying 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 show that the proposed PD-FLC admittance control is able to cater the force restoration factor by making the vertical force on each foot sufficiently big (sufficient foot placement) compared to the buoyancy force of the ocean, thus resulting in stable tripod walking on the seabed with uncertain stiffness. SERSC 2015 Conference or Workshop Item PeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/6279/1/PD-FLC%20with%20admittance%20control%20for%20hexapod%20robot%27s%20leg%20positioning%20on%20seabed.pdf application/pdf en http://umpir.ump.edu.my/id/eprint/6279/7/PD-FLC%20with%20Admittance%20Control%20for%20Hexapod%20Robot%E2%80%99s%20Leg%20Positioning%20on%20Seabed.pdf Irawan, Addie and Alam, Md. Moktadir (2015) PD-FLC with Admittance Control for Hexapod Robot's Leg Positioning on Seabed. In: 10th Asian Control Conference (ASCC), 31 May - 3 Jun 2015 , Kota Kinabalu, Sabah. pp. 1-5., 5 (6). ISSN 2233-7849 http://dx.doi.org/10.1109/ASCC.2015.7244804 DOI: 10.14257/ijbsbt.2013.5.6.02
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
language	English English
topic	TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TK Electrical engineering. Electronics Nuclear engineering Irawan, Addie Alam, Md. Moktadir PD-FLC with Admittance Control for Hexapod Robot's Leg Positioning on Seabed
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 modelling the buoyancy force following the restoration force to achieve the drowning level according to Archimedes' principle. The restoration force need to be positive in order to ensure robot locomotion is not affected by buoyancy factor. As a solution to control this force, PD-FLC is used and integrated with admittance control that is based on the total force acting on foot placement by considering Center of Mass (CoM) of the robot during walking period. The integrated control technique is verified on a real-time based 4 degree of freedom (DoF) leg configuration of hexapod robot model. The scope of analysis is focused on walking on the varying 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 show that the proposed PD-FLC admittance control is able to cater the force restoration factor by making the vertical force on each foot sufficiently big (sufficient foot placement) compared to the buoyancy force of the ocean, thus resulting in 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-FLC with Admittance Control for Hexapod Robot's Leg Positioning on Seabed
title_short	PD-FLC with Admittance Control for Hexapod Robot's Leg Positioning on Seabed
title_full	PD-FLC with Admittance Control for Hexapod Robot's Leg Positioning on Seabed
title_fullStr	PD-FLC with Admittance Control for Hexapod Robot's Leg Positioning on Seabed
title_full_unstemmed	PD-FLC with Admittance Control for Hexapod Robot's Leg Positioning on Seabed
title_sort	pd-flc with admittance control for hexapod robot's leg positioning on seabed
publisher	SERSC
publishDate	2015
url	http://umpir.ump.edu.my/id/eprint/6279/ http://umpir.ump.edu.my/id/eprint/6279/ http://umpir.ump.edu.my/id/eprint/6279/ http://umpir.ump.edu.my/id/eprint/6279/1/PD-FLC%20with%20admittance%20control%20for%20hexapod%20robot%27s%20leg%20positioning%20on%20seabed.pdf http://umpir.ump.edu.my/id/eprint/6279/7/PD-FLC%20with%20Admittance%20Control%20for%20Hexapod%20Robot%E2%80%99s%20Leg%20Positioning%20on%20Seabed.pdf
first_indexed	2023-09-18T22:01:54Z
last_indexed	2023-09-18T22:01:54Z
_version_	1777414453997862912

PD-FLC with Admittance Control for Hexapod Robot's Leg Positioning on Seabed

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