Position-Based Robust Locomotion Control of Hexapod Robot

Position-based locomotion control is a very popular technique in walking robot research. However, the actuation system of the robot may pose various challenges for smooth and stable locomotion of the walking robot. This chapter presents few nonlinear robust control techniques for the position-based locomotion control of a hydraulically actuated hexapod walking robot COMET-III. This chapter starts with a general description of position control-based locomotion control of walking robot. Then the various nonlinearities of the hydraulic actuation system have been described in brief. Finally, two sliding model-based locomotion control techniques and a robust adaptive fuzzy control-based locomotion control technique of COMET-III in the position control-based framework have been presented with real-time experimental results.