Center of Mass-Based Admittance Control for Multi-Legged Robot Walking on the Bottom of Ocean

• Main Authors: Addie Irawan, Hashim, Alam, Md. Moktadir, Yee, Yin Tan, Mohd Rizal, Arshad
• Format: Article
• Language: English; English
• Published: Penerbit Universiti Teknologi Malaysia 2015
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/10041/1/Center%20Of%20Mass-Based%20Admittance%20Control%20For%20Multi-Legged%20Robot%20Walking%20On%20The%20Bottom%20Of%20Ocean.pdf; http://umpir.ump.edu.my/id/eprint/10041/7/fkee-2015-addie-Center%20Of%20Mass-Based%20Admittance%20Control.pdf; http://umpir.ump.edu.my/id/eprint/10041/; http://www.jurnalteknologi.utm.my/index.php/jurnalteknologi/article/view/4802

This paper presents a proposed adaptive admittance control that is derived based on Center of Mass (CoM) of the hexapod robot designed for walking on the bottom of water or seabed. The study has been carried out by modeling the buoyancy force following the restoration force to achieve the drowning l...