PD-FLC with Admittance Control for Hexapod Robot's Leg Positioning on Seabed

• Main Authors: Addie Irawan, Hashim, Alam, Md. Moktadir
• Format: Conference or Workshop Item
• Language: English; English
• Published: SERSC 2015
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/6279/1/PD-FLC%20with%20admittance%20control%20for%20hexapod%20robot%27s%20leg%20positioning%20on%20seabed.pdf; http://umpir.ump.edu.my/id/eprint/6279/7/PD-FLC%20with%20Admittance%20Control%20for%20Hexapod%20Robot%E2%80%99s%20Leg%20Positioning%20on%20Seabed.pdf; http://umpir.ump.edu.my/id/eprint/6279/; http://dx.doi.org/10.1109/ASCC.2015.7244804

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 achiev...