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

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...

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Main Authors: Addie Irawan, Hashim, Nonami, Kenzo, Mohd Razali, Daud
Format: Book Section
Published: Springer 2013
Subjects:
TJ Mechanical engineering and machinery
TN Mining engineering. Metallurgy
Online Access:http://umpir.ump.edu.my/id/eprint/6725/
http://dx.doi.org/10.1007/978-4-431-54276-6_15
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spelling my.ump.umpir.67252020-09-07T08:56:22Z http://umpir.ump.edu.my/id/eprint/6725/ Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot Addie Irawan, Hashim Nonami, Kenzo Mohd Razali, Daud TJ Mechanical engineering and machinery TN Mining engineering. Metallurgy 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. Springer 2013-10-31 Book Section PeerReviewed Addie Irawan, Hashim 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) http://dx.doi.org/10.1007/978-4-431-54276-6_15 DOI: 10.1007/978-4-431-54276-6_15
institution Universiti Malaysia Pahang
building UMP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Pahang
content_source UMP Institutional Repository
url_provider http://umpir.ump.edu.my/
topic TJ Mechanical engineering and machinery
TN Mining engineering. Metallurgy
spellingShingle TJ Mechanical engineering and machinery
TN Mining engineering. Metallurgy
Addie Irawan, Hashim
Nonami, Kenzo
Mohd Razali, Daud
Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot
description 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.
format Book Section
author Addie Irawan, Hashim
Nonami, Kenzo
Mohd Razali, Daud
author_facet Addie Irawan, Hashim
Nonami, Kenzo
Mohd Razali, Daud
author_sort Addie Irawan, Hashim
title Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot
title_short Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot
title_full Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot
title_fullStr Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot
title_full_unstemmed Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot
title_sort optimal impedance control with tsk-type flc for hard shaking reduction on hydraulically driven hexapod robot
publisher Springer
publishDate 2013
url http://umpir.ump.edu.my/id/eprint/6725/
http://dx.doi.org/10.1007/978-4-431-54276-6_15
_version_ 1677781333536931840
score 13.160551

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