Center of Mass-Based Admittance Control for Multi-Legged Robot Walking on the Bottom of Ocean

Center of Mass-Based Admittance Control for Multi-Legged Robot Walking on the Bottom of Ocean

This paper presents a proposed adaptive admittance control that is derived based on Center of Mass (CoM) of the hexapod robot designed for walking on the bottom of water or seabed. The study has been carried out by modeling the buoyancy force following the restoration force to achieve the drowning l...

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Bibliographic Details
Main Authors: Addie Irawan, Hashim, Alam, Md. Moktadir, Yee, Yin Tan, Mohd Rizal, Arshad
Format: Article
Language:English
English
Published: Penerbit Universiti Teknologi Malaysia 2015
Subjects:
TK Electrical engineering. Electronics Nuclear engineering
Online Access:http://umpir.ump.edu.my/id/eprint/10041/
http://umpir.ump.edu.my/id/eprint/10041/1/Center%20Of%20Mass-Based%20Admittance%20Control%20For%20Multi-Legged%20Robot%20Walking%20On%20The%20Bottom%20Of%20Ocean.pdf
http://umpir.ump.edu.my/id/eprint/10041/7/fkee-2015-addie-Center%20Of%20Mass-Based%20Admittance%20Control.pdf

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