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The Hybrid Position/Force Walking Robot Control Using Extenics Theory and Neutrosophic Logic Decision.

Ionel-Alexandru Gal¹, Alexandra-Cătălina Ciocîrlan¹, Luige Vlădăreanu¹

¹Institute of Solid Mechanics of the Romanian Academy, 15 C. Mille, 010141 Bucharest, Romania.

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Summary

This summary is machine-generated.

This study introduces a hybrid force/position control for hexapod robots, integrating Extenics theory and neutrosophic logic. The novel two-stage algorithm enhances robot control and precision during walking.

Keywords:

decision method extension set hybrid position/force control neutrosophic logic sliding mode control

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Area of Science:

Robotics
Control Systems Engineering
Artificial Intelligence

Background:

Hexapod walking robots require advanced control for stability and load capacity.
Existing control methods often struggle to balance kinematic and dynamic properties effectively.

Purpose of the Study:

To develop and validate a hybrid force/position control system for hexapod robots.
To integrate Extenics theory and neutrosophic logic for a robust two-stage decision-making algorithm.

Main Methods:

A two-stage decision-making algorithm combining Extenics theory (offline) and neutrosophic logic with DSmT theory (real-time).
Separation of control into kinematic (PID regulator) and dynamic (Sliding Mode Control - SMC) phases.
Implementation of a dynamic switching algorithm to integrate kinematic and dynamic control strategies.

Main Results:

The hybrid control system demonstrated efficient operation of hexapod robot motors.
Experimental results closely matched predictions, validating the control method's effectiveness.
The switching algorithm improved system precision by compensating for dynamic parameters during different walking phases.

Conclusions:

The proposed hybrid force/position control is effective for hexapod robots.
The two-stage decision algorithm successfully leverages kinematic and dynamic control methods.
The switching algorithm offers precise control with minimal impact on system parameters.