Optimal two-degree-of-freedom fuzzy control for locomotion control of a hydraulically actuated hexapod robot

The mechanical model of the electro-rheological fluid damping adjustable isolator is established. Then the two degree of freedom vibration adjusting system of engine and car frame is built. The PD fuzzy control method is used to control the damping characteristic of the damping adjustable isolator. Simulation analysis is executed by using Matlab software. The datum of simulation analysis indicates that the isolation capability of the PD fuzzy control electro-rheological fluid damping adjustable isolator is well.

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1A1-H06 Autonomous Navigation of Hydraulically Actuated Hexapod Robot COMET-IV : The 3rd Report : Vertical Step Locomotion Control with Stereo Vision Camera

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2008._1a1-h06_1 ◽

2008 ◽

Vol 2008 (0) ◽

pp. _1A1-H06_1-_1A1-H06_4

Author(s):

Xiaowu LIN ◽

Hiroshi OOROKU ◽

Masaki OKU ◽

Yuji HARADA ◽

Kosuke FUTAGAMI ◽

...

Keyword(s):

Stereo Vision ◽

Autonomous Navigation ◽

Hexapod Robot ◽

Locomotion Control ◽

Hydraulically Actuated ◽

Vertical Step

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SCARA Robot Locomotion Control by Two-degree-of-freedom Simple Servo Adaptive Controller

Proceedings of the 4th Asia International Symposium on Mechatronics ◽

10.3850/978-981-08-7723-1_p180 ◽

2010 ◽

Author(s):

Taworn Benjanarasuth

Keyword(s):

Adaptive Controller ◽

Degree Of Freedom ◽

Locomotion Control ◽

Scara Robot ◽

Robot Locomotion ◽

Two Degree Of Freedom

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Locomotion control of a hydraulically actuated hexapod robot by robust adaptive fuzzy control and dead-zone compensation

Robotica ◽

10.1017/s0263574706003067 ◽

2006 ◽

Vol 25 (3) ◽

pp. 269-281 ◽

Cited By ~ 5

Author(s):

Ranjit Kumar Barai ◽

Kenzo Nonami

Keyword(s):

Fuzzy Control ◽

Dead Zone ◽

Tracking Error ◽

Adaptive Fuzzy Control ◽

Control Technique ◽

Joint Control ◽

Locomotion Control ◽

Adaptive Fuzzy ◽

Hydraulically Actuated ◽

Robust Adaptive

SUMMARYThis investigation presents locomotion control of a hydraulically actuated six-legged humanitarian demining robot by robust adaptive fuzzy control in conjunction with the dead zone compensation technique within independent joint control framework. For proper locomotion of the demining robot, accurate tracking of the desired joint trajectory is very important. However, high degree of nonlinearity, the uncertainties due to changing hydraulic properties, and delay due to the flow of oil and dead zone of the proportional electromagnetic control valve results into an inaccurate plant model for the hydraulically actuated robotic joints. Consequently, model-based classical control techniques result into a large tracking error. Therefore, adaptive fuzzy control technique, being a model independent control paradigm for complex and uncertain systems, is a good choice for such systems. In this work, a hydraulic dead zone compensated robust adaptive fuzzy control law has been proposed for locomotion control of hydraulically actuated hexapod demining robot. The experimental results exhibit a fairly accurate trajectory tracking of the leg joints and, consequently, very stable locomotion of the walking robot.

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