Position-Based Robust Locomotion Control of Hexapod Robot

  • Kenzo Nonami
  • Ranjit Kumar Barai
  • Addie Irawan
  • Mohd Razali Daud
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 66)


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.


Fuzzy Logic System Reference Orbit Adaptive Fuzzy Control Walking Robot Locomotion Control 
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Copyright information

© Springer Japan 2014

Authors and Affiliations

  • Kenzo Nonami
    • 1
  • Ranjit Kumar Barai
    • 2
  • Addie Irawan
    • 3
  • Mohd Razali Daud
    • 3
  1. 1.Department of Mechanical Engineering Division of Artificial Systems Science Graduate School of EngineeringChiba UniversityChibaJapan
  2. 2.Department of Electrical EngineeringJadavpur UniversityKolkataIndia
  3. 3.Faculty of Electrical and Electronics Engineering Robotics and Unmanned Systems (RUS) groupUniversiti Malaysia PahangPahangMalaysia

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