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...
| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
2015
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| Subjects: | |
| Online Access: | 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 |
| Summary: | 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. |
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