Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot
This article presents the strategy of control to improve the performance of applied impedance control in hydraulically driven hexapod robot named COMET-IV, during walking/operating on various type of extremely uneven terrain. The robot’s body moment of inertia is calculated and adapted as impedance...
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| Format: | Book Chapter |
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Springer
2013
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| _version_ | 1825821821787701248 |
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| author | Addie Irawan, Hashim Nonami, Kenzo Mohd Razali, Daud |
| author_facet | Addie Irawan, Hashim Nonami, Kenzo Mohd Razali, Daud |
| author_sort | Addie Irawan, Hashim |
| collection | UMP |
| description | This article presents the strategy of control to improve the performance of applied impedance control in hydraulically driven hexapod robot named COMET-IV, during walking/operating on various type of extremely uneven terrain. The robot’s body moment of inertia is calculated and adapted as impedance control feedback and the Sugeno type fuzzy or so called Takagaki-Sugeno-Kang Fuzzy Logic (TSK-FLC) with Linear Quadratic Regulation (LQR) based gain tuning is cascaded for optimization purposes. The proposed control strategy is verified in the actual robot system with walking on the setup extremely uneven
terrain in the laboratory. |
| first_indexed | 2024-03-06T11:47:19Z |
| format | Book Chapter |
| id | UMPir6725 |
| institution | Universiti Malaysia Pahang |
| last_indexed | 2024-03-06T11:47:19Z |
| publishDate | 2013 |
| publisher | Springer |
| record_format | dspace |
| spelling | UMPir67252020-09-07T08:56:22Z http://umpir.ump.edu.my/id/eprint/6725/ Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot Addie Irawan, Hashim Nonami, Kenzo Mohd Razali, Daud TJ Mechanical engineering and machinery TN Mining engineering. Metallurgy This article presents the strategy of control to improve the performance of applied impedance control in hydraulically driven hexapod robot named COMET-IV, during walking/operating on various type of extremely uneven terrain. The robot’s body moment of inertia is calculated and adapted as impedance control feedback and the Sugeno type fuzzy or so called Takagaki-Sugeno-Kang Fuzzy Logic (TSK-FLC) with Linear Quadratic Regulation (LQR) based gain tuning is cascaded for optimization purposes. The proposed control strategy is verified in the actual robot system with walking on the setup extremely uneven terrain in the laboratory. Springer 2013-10-31 Book Chapter PeerReviewed Addie Irawan, Hashim and Nonami, Kenzo and Mohd Razali, Daud (2013) Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot. In: Autonomous Control Systems and Vehicles. Intelligent Systems, Control and Automation: Science and Engineering, 65 . Springer, Japan, pp. 223-236. ISBN 978-4-431-54275-9 (print); 978-4-431-54276-6 (online) http://dx.doi.org/10.1007/978-4-431-54276-6_15 DOI: 10.1007/978-4-431-54276-6_15 |
| spellingShingle | TJ Mechanical engineering and machinery TN Mining engineering. Metallurgy Addie Irawan, Hashim Nonami, Kenzo Mohd Razali, Daud Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot |
| title | Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot |
| title_full | Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot |
| title_fullStr | Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot |
| title_full_unstemmed | Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot |
| title_short | Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot |
| title_sort | optimal impedance control with tsk type flc for hard shaking reduction on hydraulically driven hexapod robot |
| topic | TJ Mechanical engineering and machinery TN Mining engineering. Metallurgy |
| work_keys_str_mv | AT addieirawanhashim optimalimpedancecontrolwithtsktypeflcforhardshakingreductiononhydraulicallydrivenhexapodrobot AT nonamikenzo optimalimpedancecontrolwithtsktypeflcforhardshakingreductiononhydraulicallydrivenhexapodrobot AT mohdrazalidaud optimalimpedancecontrolwithtsktypeflcforhardshakingreductiononhydraulicallydrivenhexapodrobot |