Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot

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Irawan, Addie 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)

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Official URL: http://dx.doi.org/10.1007/978-4-431-54276-6_15

Abstract

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.

Item Type:Book Section
Subjects:T Technology > TJ Mechanical engineering and machinery
T Technology > TN Mining engineering. Metallurgy
Divisions:Faculty of Electrical & Electronic Engineering
ID Code:6725
Deposited By: Dr. Addie Irawan
Deposited On:27 Oct 2014 13:38
Last Modified:31 Oct 2017 12:30

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