抄録
This paper presents the mathmatical modeling of hydraulic-actuated hexapod robot. The robot namely COMET-IV which is operate for hazardous operation assistance in outdoor application. Currently COMET-IV position angle is controlled using P1D controller. However this controller is not enough to perform robustness for nonlinearities of the hydraulic system. Therefore the mathematical model is derived for each link of each leg of COMET-IV using Identification theory. The goal of this derivation and modeling is to identify the states that possible to be controlled. Thus from this identified states, new robustness controller for angle control can be designed.
