Hostname: page-component-cd9895bd7-hc48f Total loading time: 0 Render date: 2024-12-28T03:50:38.851Z Has data issue: false hasContentIssue false
  • English
  • Français

Efficient computation of force distributions for walking machines on rough terrain

Published online by Cambridge University Press:  09 March 2009

J. F. Gardner
J. F. Gardner
Affiliation:
Department of Mechanical Engineering, The Pennsylvania State University, University Park, PA 16802 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

The force distribution problem for legged vehicles on rough terrain is considered. A general formulation of the force distribution problem in which the feet contact the ground at arbitrary inclinations, is presented. Three techniques are used to solve the force distribution problem for three representative tasks. The Moore-Penrose pseudo-inverse, a numerical optimization scheme and an approximation to the optimal solution are described. The optimal scheme computes the forces which minimize the maximum ratio of tangential foot reaction force to foot normal force. The approximation is used to achieve certain desirable characteristics of the optimal scheme with considerably less computational resources.

Keywords

Walking machinesRough terrainForce distributionControl.
Type
Article
Information
Robotica , Volume 10 , Issue 5 , September 1992 , pp. 427 - 433
Copyright
Copyright © Cambridge University Press 1992

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Pugh, D.R., Ribble, E.A., Vohnout, V.J., Bihari, T.E., Walliser, T.M., Patterson, M.R. and Waldron, K.J., “Technical Description of the Adaptive Suspension Vehicle” Int. J. Robotics Research 9(2), 24–42 (1990).CrossRefGoogle Scholar
2.Orin, D.E. and Oh, S.Y., “Control of Force Distribution in Robotic Mechanisms Containing Closed Kinematic Chains” Dynamic Systems, Measurement and Control 102(2), 134–141 (1981).Google Scholar
3.Klein, C.A. and Kittivatcharapong, S., “Optimal Force Distribution for the Legs of a Walking Machine with Friction Cone Constraints” IEEE Transactions on Robotics and Automation 6(1), 73–85 (1990).CrossRefGoogle Scholar
4.Waldron, K.J., “Force and Motion Management in Legged Locomotion” IEEE J. Robotics and Automation, RA-2(2), 214–220 (1986).CrossRefGoogle Scholar
5.Kumar, V. and Waldron, K.J., “Sub-Optimal Algorithms for Force Distribution in Multi-Fingered Grippers” Proceedings of IEEE International Conference on Robotics and Automation, Raleigh, NC 252–257 (1987).Google Scholar
6.Nakamura, Y., Kiyoshi, N. and Yoshickawa, , “Dynamics and Stability in Coordination of Multiple Robotic Mechanisms” Int. J. Robotics Research 8(2), 44–61 (1989).CrossRefGoogle Scholar
7.Luh, J.Y.S. and Zheng, Y.F., “Computation of Input Generalized Forces for Robots with closed Kinematic Chain Mechanisms” IEEE J. Robotics and Automation RA-1(2), 95–103 (1985).CrossRefGoogle Scholar
8.Ribble, E. “Adaptive Suspension Vehicle Force Distribution Problem” Technical Report of the Butterfly/Warp User Group Meeting. The Ohio State University (1985).Google Scholar
9.Gardner, J.F., “Force Distribution and Trajectory Control for Closed Kinematic Chains with Applications to Walking Machines Ph.D. Dissertation (Mechanical Engineering, The Ohio State University, 1987).Google Scholar