TY - GEN
T1 - PD-FLC with admittance control for hexapod robot's leg positioning on seabed
AU - Irawan, Addie
AU - Alam, Md Moktadir
AU - Tan, Yee Yin
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/8
Y1 - 2015/9/8
N2 - 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.
AB - 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.
KW - CoM-based impedance model
KW - foot motion
KW - force restoration
KW - PD-like FLC
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U2 - 10.1109/ASCC.2015.7244804
DO - 10.1109/ASCC.2015.7244804
M3 - Conference contribution
AN - SCOPUS:84957653272
T3 - 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
BT - 2015 10th Asian Control Conference
A2 - Selamat, Hazlina
A2 - Ramli, Hafiz Rashidi Haruna
A2 - Faudzi, Ahmad Athif Mohd
A2 - Rahman, Ribhan Zafira Abdul
A2 - Ishak, Asnor Juraiza
A2 - Soh, Azura Che
A2 - Ahmad, Siti Anom
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th Asian Control Conference, ASCC 2015
Y2 - 31 May 2015 through 3 June 2015
ER -