Locomotion Control of a Hydraulically Actuated Hexapod Robot by Robust Adaptive Fuzzy Control with Self-Tuned Adaptation Gain and Dead Zone Fuzzy Pre-compensation

@article{Barai2008LocomotionCO,
  title={Locomotion Control of a Hydraulically Actuated Hexapod Robot by Robust Adaptive Fuzzy Control with Self-Tuned Adaptation Gain and Dead Zone Fuzzy Pre-compensation},
  author={Ranjit Kumar Barai and Kenzo Nonami},
  journal={Journal of Intelligent and Robotic Systems},
  year={2008},
  volume={53},
  pages={35-56}
}
Hydraulically actuated robotic mechanisms are becoming popular for field robotic applications for their compact design and large output power. However, they exhibit nonlinearity, parameter variation and flattery delay in the response. This flattery delay, which often causes poor trajectory tracking performance of the robot, is possibly caused by the dead… CONTINUE READING