PD-like FLC with Admittance Control of Hexapod Robot’s Leg Vertical Positioning for Seabed Locomotion

• Main Authors: Addie Irawan, Hashim, Alam, Md. Moktadir
• Format: Conference or Workshop Item
• Language: English; English
• Published: 2015
• Subjects: TP Chemical technology
• Online Access: http://umpir.ump.edu.my/id/eprint/10896/1/PD-like%20FLC%20with%20Admittance%20control%20of%20Hexapod%20robot%E2%80%99s%20leg%20vertical%20positioning%20for%20seabed%20locomotion.pdf; http://umpir.ump.edu.my/id/eprint/10896/7/fkee-2015-addie-PD-like%20FLC%20with%20Admittance.pdf; http://umpir.ump.edu.my/id/eprint/10896/

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 modeling the buoyancy force following the restoration force to ac...