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

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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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Bibliographic Details
Main Authors:	Addie Irawan, Hashim, Nonami, Kenzo, Mohd Razali, Daud
Format:	Book Chapter
Published:	Springer 2013
Subjects:	TJ Mechanical engineering and machinery TN Mining engineering. Metallurgy
Online Access:	http://umpir.ump.edu.my/id/eprint/6725/

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