Yee Yin Tan

Universiti Malaysia Pahang Al-Sultan Abdullah

Papers

Total Citations

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About

Yee Yin Tan is a robotics researcher whose work centers on the control and locomotion of multi-legged robots, with a particular focus on challenging underwater environments. Her major contributions lie in the development of adaptive control strategies for hexapod and reconfigurable robots, addressing the complex dynamics of walking on the seabed. She pioneered a PD-like Fuzzy Logic Control (PD-FLC) combined with admittance control for precise leg positioning, a method that accounts for buoyancy and restoration forces to prevent drowning. Her most cited paper (11 citations) details this approach, while her work on the "Hexaquad" robot introduces a reconfigurable platform that transitions between hexapod and quadruped modes, optimizing leg usage for varied terrains. Tan also advanced a Center of Mass-based admittance control, enabling stable locomotion by dynamically adjusting to underwater forces. Though her citation counts are modest, her focused contributions to underwater legged robotics—a niche and demanding field—demonstrate significant innovation in modeling and control, laying groundwork for future autonomous seabed exploration and inspection robots.