Force-Based 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)


As a part of motion control categories as discussed in  Chap. 1, force and impedance control play a main role in legged/walking robot walking on unstructured or uneven terrain. With active suspension configuration (legs), the strong role of legged/walking robot design is capable of passing through any uneven terrain as long as the obstacles are not achieved its maximum or minimum overall body height, if compare to the wheel-type robot. Therefore, force or impedance control is needed to make a dynamic response on each leg in order to identify the different level of the terrain or any sudden changes on the terrain. Moreover, this control is very crucial on the hidden area that could not be identified by a vision system via pre-scanning and localization.


Swing Phase Impedance Control Rough Terrain Soft Ground Legged Robot 
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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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