Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach

Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach

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 suffi...

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Main Authors: Alam, Md. Moktadir, Irawan, Addie, Yee, Yin Tan
Format: Article
Language:English
Published: NISCAIR PUBLICATIONS 2015
Subjects:
TC Hydraulic engineering. Ocean engineering
Online Access:http://umpir.ump.edu.my/id/eprint/13737/
http://umpir.ump.edu.my/id/eprint/13737/
http://umpir.ump.edu.my/id/eprint/13737/1/fkee-2015-Buoyancy%20Effect%20Control%20in%20Multi%20Legged%20Robot%20Locomotion%20on%20Seabed%20using%20Integrated.pdf
id oai:umpir.ump.edu.my:13737
recordtype eprints
spelling oai:umpir.ump.edu.my:137372018-04-18T01:50:35Z http://umpir.ump.edu.my/id/eprint/13737/ Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach Alam, Md. Moktadir Irawan, Addie Yee, Yin Tan TC Hydraulic engineering. Ocean engineering 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. NISCAIR PUBLICATIONS 2015-12-31 Article NonPeerReviewed application/pdf en http://umpir.ump.edu.my/id/eprint/13737/1/fkee-2015-Buoyancy%20Effect%20Control%20in%20Multi%20Legged%20Robot%20Locomotion%20on%20Seabed%20using%20Integrated.pdf Alam, Md. Moktadir and Irawan, Addie and Yee, Yin Tan (2015) Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach. Indian Journal of Geo-Marine Sciences (IJMS), 44 (12). pp. 1937-1945. ISSN 0975-1033 http://nopr.niscair.res.in/handle/123456789/34945
repository_type Digital Repository
institution_category Local University
institution Universiti Malaysia Pahang
building UMP Institutional Repository
collection Online Access
language English
topic TC Hydraulic engineering. Ocean engineering
spellingShingle TC Hydraulic engineering. Ocean engineering
Alam, Md. Moktadir
Irawan, Addie
Yee, Yin Tan
Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
description 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.
format Article
author Alam, Md. Moktadir
Irawan, Addie
Yee, Yin Tan
author_facet Alam, Md. Moktadir
Irawan, Addie
Yee, Yin Tan
author_sort Alam, Md. Moktadir
title Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
title_short Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
title_full Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
title_fullStr Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
title_full_unstemmed Buoyancy Effect Control in Multi Legged Robot Locomotion on Seabed using Integrated Impedance-Fuzzy Logic Approach
title_sort buoyancy effect control in multi legged robot locomotion on seabed using integrated impedance-fuzzy logic approach
publisher NISCAIR PUBLICATIONS
publishDate 2015
url http://umpir.ump.edu.my/id/eprint/13737/
http://umpir.ump.edu.my/id/eprint/13737/
http://umpir.ump.edu.my/id/eprint/13737/1/fkee-2015-Buoyancy%20Effect%20Control%20in%20Multi%20Legged%20Robot%20Locomotion%20on%20Seabed%20using%20Integrated.pdf
first_indexed 2018-09-07T01:49:01Z
last_indexed 2018-09-07T01:49:01Z
_version_ 1610911519287017472

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