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This study introduces a variant of Gravitational Search Algorithm (GSA) for discrete optimization problems, namely, Fast Discrete Gravitational Search Algorithm (FDGSA). The main difference between the proposed FDGSA and the existing Binary Gravitational Search Algorithm (BGSA) is that an agent's position is updated based on its direction and velocity. Both(More)
This paper presents a control strategy for improving the performance of hexapod robot walking on uneven terrain using the combination of designed force threshold-based foot motion and center-of-body (CoB) based omni directional movement. According to the several studies on omni directional movement for legged robot, most of the proposed methods are(More)
This paper presents the framework and control of a proposed water strider-liked robot, named as Portable Striding pH Tester (PSpHT) that is able to measure the water quality. PSpHT is designed with its leg and tip configurations made respectively from the light-steel beam and polypropylene-based material. The design of the leg is calculated and fabricated(More)
This paper presents the proposed control input converter (CiC) for robot leg's joint control with parallel actuation. The parallel actuation commonly used in heavy machine such as backhoe and bulldozer. This configuration performing muscle-based movement since the actuator attached becoming part of the frame. Therefore this particular switching mechanism is(More)
This paper presents the development of a configurable leg-to-arm for configurable robot, named Hexapod-to-Quadruped (Hexaquad) robot, which is designed and developed for riverbed/seabed exploration and related works. Reconfigurable legged robot, one of robotics research areas, is generally focused on optimizing the usage of leg during locomotion. Until(More)
This paper presents a proposed adaptive impedance control that derived based on Center of Mass (CoM) of the hexapod robot for walking on the bottom of water or seabed. The study has been carried out by modeling the buoyancy force following the restoration force to a chieve the drowning level according to the Archimedes' principle. The restoration force need(More)
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