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

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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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
Faculty/Division: Faculty of Electrical & Electronic Engineering
Depositing User: Dr. Addie Irawan
Date Deposited: 27 Oct 2014 05:38
Last Modified: 05 Feb 2018 06:01
URI: http://umpir.ump.edu.my/id/eprint/6725
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