Papers
38
Total Citations
334
H-Index
8
About
Addie Irawan is a robotics researcher whose work centers on legged robot locomotion, hydraulic actuation systems, and advanced control strategies for robots operating in challenging environments. He is best known for his extensive research on the COMET-IV hydraulically driven hexapod robot, through which he pioneered impedance control techniques tailored to uneven and extremely soft terrain. His 2011 paper on optimal impedance control based on body inertia has garnered 76 citations, establishing him as a leading voice in compliant walking control for multi-legged systems. Irawan's contributions extend to adaptive impedance control, force-threshold-based omnidirectional movement, and compliant body balance mechanisms — collectively addressing the critical challenge of maintaining stability across unpredictable surfaces. A notable dimension of his research involves underwater robotics, including seabed locomotion and buoyancy compensation using fuzzy logic and impedance integration, as well as the development of reconfigurable leg-to-gripper systems for subsea exploration. More recently, he has explored mobile robot localization and fractional-order PID control for pneumatic actuators. With over 200 cumulative citations, Irawan's body of work represents significant advances in autonomous legged robots designed to operate where conventional wheeled systems simply cannot.
Research Focus
Key Achievements
Top Papers
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- 3Hydraulically Actuated Hexapod Robots33 citations · 2013
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- 6Scan matching and KNN classification for mobile robot localisation algorithm11 citations · 2017
- 7PD-FLC with admittance control for hexapod robot's leg positioning on seabed11 citations · 2015
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