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:	Irawan, Addie, 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://umpir.ump.edu.my/id/eprint/6725/ http://umpir.ump.edu.my/id/eprint/6725/

id	ump-6725
recordtype	eprints
spelling	ump-67252018-02-05T06:01:05Z http://umpir.ump.edu.my/id/eprint/6725/ Optimal Impedance Control with TSK-type FLC for Hard Shaking Reduction on Hydraulically Driven Hexapod Robot Irawan, Addie 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 Irawan, Addie 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
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Malaysia Pahang
building	UMP Institutional Repository
collection	Online Access
topic	TJ Mechanical engineering and machinery TN Mining engineering. Metallurgy
spellingShingle	TJ Mechanical engineering and machinery TN Mining engineering. Metallurgy Irawan, Addie 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	Irawan, Addie Nonami, Kenzo Mohd Razali, Daud
author_facet	Irawan, Addie Nonami, Kenzo Mohd Razali, Daud
author_sort	Irawan, Addie
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://umpir.ump.edu.my/id/eprint/6725/ http://umpir.ump.edu.my/id/eprint/6725/
first_indexed	2023-09-18T22:02:44Z
last_indexed	2023-09-18T22:02:44Z
_version_	1777414506492723200

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

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