Record Details

Buoyancy effect control in multi legged robot locomotion on seabed using integrated impedance-fuzzy logic approach

NOPR - NISCAIR Online Periodicals Repository

View Archive Info
 
 
Field Value
 
Title Buoyancy effect control in multi legged robot locomotion on seabed using integrated impedance-fuzzy logic approach
 
Creator Alam, Md. Moktadir
Irawan, Addie
Yin, Tan Yee
 
Subject CoM-based impedance model
Fuzzy logic control
Force restoration
Foot motion
 
Description 1937-1945
Buoyance forces are part of the fundamental physical resistances that act on moving or swimming objects in the ocean
environment. For the case of multi-legged robot, such as hexapod walking on the seabed, buoyance affects the horizontal stability if the motion of the robot’s foot does not have sufficient force to step on the bottom of the seabed. Therefore, this study is carried out by integrating a derived Center of Mass (CoM)-based impedance control with fuzzy logic control to cater for the dynamic state that blended with underwater buoyance forces on the motion of the hexapod’s foot. This integrated control strategy is designed, modeled and verified on the real-time based 4-degree of freedom (DoF) leg configuration of a hexapod robot model with buoyancy force model as force disturbances. The scope of analysis is focused on verifying the stiffness of undersea bottom soil with the tripod walking pattern, the vertical foot motion of the leg, and the body mass coordination movement during locomotion period.
 
Date 2016-07-21T09:23:43Z
2016-07-21T09:23:43Z
2015-12
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://nopr.niscair.res.in/jspui/handle/123456789/34945
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.44(12) [December 2015]