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Hydraulically Actuated Hexapod Robots pp 105–139Cite as

Position-Based Robust Locomotion Control of Hexapod Robot

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Part of the book series: Intelligent Systems, Control and Automation: Science and Engineering ((ISCA,volume 66))

Abstract

Position-based locomotion control is a very popular technique in walking robot research. However, the actuation system of the robot may pose various challenges for smooth and stable locomotion of the walking robot. This chapter presents few nonlinear robust control techniques for the position-based locomotion control of a hydraulically actuated hexapod walking robot COMET-III. This chapter starts with a general description of position control-based locomotion control of walking robot. Then the various nonlinearities of the hydraulic actuation system have been described in brief. Finally, two sliding model-based locomotion control techniques and a robust adaptive fuzzy control-based locomotion control technique of COMET-III in the position control-based framework have been presented with real-time experimental results.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering Division of Artificial Systems Science Graduate School of Engineering, Chiba University, Chiba, Japan

    Kenzo Nonami

  2. Department of Electrical Engineering, Jadavpur University, Kolkata, India

    Ranjit Kumar Barai

  3. Faculty of Electrical and Electronics Engineering Robotics and Unmanned Systems (RUS) group, Universiti Malaysia Pahang, Pahang, Malaysia

    Addie Irawan & Mohd Razali Daud

Authors
  1. Kenzo Nonami
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  2. Ranjit Kumar Barai
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  3. Addie Irawan
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  4. Mohd Razali Daud
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Nonami, K., Barai, R.K., Irawan, A., Daud, M.R. (2014). Position-Based Robust Locomotion Control of Hexapod Robot. In: Hydraulically Actuated Hexapod Robots. Intelligent Systems, Control and Automation: Science and Engineering, vol 66. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54349-7_5

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  • DOI: https://doi.org/10.1007/978-4-431-54349-7_5

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  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-54348-0

  • Online ISBN: 978-4-431-54349-7

  • eBook Packages: EngineeringEngineering (R0)

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