This paper presents a proposed Proportional andudDerivative (PD)-like Fuzzy Logic Control (FLC) (PD-FLC) onuddynamic control for vertical positioning of Hexapod Robotudwalking on seabed environment. The study has been carried outudby modeling the buoyancy force following the restoration force toudachieve the drowning level according to the Archimedes’udprinciple. The restoration force need to be positive in order toudensure robot locomotion is not affected by buoyancy factor. Asudfor this force control solution, PD-FLC is used and integratedudwith admittance control that based on the total of force of footudplacement by considering Center of Mass (CoM) of the robotudduring walking period. This integrated control technique isuddesign and verify on the real-time based 4 degree of freedomud(DoF) leg configuration of hexapod robot model. The scope ofudanalysis is focus on walking on the varied stiffness of underseaudbottom soil with tripod walking pattern. Moreover theudverification is done on the vertical foot motion of the leg and theudbody mass coordination movement during walking period. Theudresults shows that proposed PD-FLC admittance control able toudcater the force restoration factor by making vertical force onudeach foot bigger enough (sufficient foot placement) if compare toudthe buoyancy force of the ocean, thus performing stable tripodudwalking on the seabed with uncertain stiffness.
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