Locomotion control of a hydraulically actuated hexapod robot by robust adaptive fuzzy control and dead-zone compensation.
Ranjit Kumar BaraiKenzo NonamiPublished in: Robotica (2007)
Keyphrases
- legged robots
- nonlinear systems
- fuzzy control
- inverted pendulum
- dead zone
- fuzzy controller
- control method
- control system
- control law
- adaptive control
- adaptive neural
- pid control
- control scheme
- robot control
- mobile robot
- control algorithm
- pid controller
- fuzzy rules
- control strategy
- robotic systems
- input output
- dissolved oxygen
- fuzzy logic
- fuzzy systems
- autonomous robots
- fuzzy logic controller
- fuzzy model
- learning rate
- nonlinear functions
- closed loop
- membership functions
- mathematical model
- real time
- obstacle avoidance
- real robot
- feedback control
- robot manipulators
- computational intelligence
- evolutionary algorithm