Optimal force distribution in multilegged vehicles

Chen, Jeng-Shi; Cheng, Fan‐Tien; Yang, Kai-Tarng; Kung, Fan‐Chu; Sun, Yung-Nien

doi:10.1017/s0263574799000946

Cited by 23 publications

(8 citation statements)

References 20 publications

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“…To date, various methods for force distribution problems have been proposed. For example, methods based on a pseudo inverse matrix method [9], a linear programming method (LP method) [7], and a quadratic programming method (QP method) [23,24] were proposed. In this study, the standard QP method is applied to consider inequality constraints and a quadratic evaluation function as follows.…”

Section: Robot Dynamicsmentioning

confidence: 99%

“Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution

Ambe

Matsuno

2016

Robomech J

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Problems can often occur when a legged robot attempts to walk on irregular or damaged terrain, such as in search and rescue missions during natural and man-made disasters. In some cases, the ground beneath the robot will collapse because of the pressure of its weight, causing the machine to lose its foothold and topple over. This is a point to which we as designers must pay careful attention when designing a robot. Thus, in such irregular areas, the robot should walk carefully so as not to collapse its footholds. To attempt to solve this problem, we proposed the "leg-grope walk" method which allows a quadruped robot to avoid stumbling or causing a large collapse of the surrounding area on weak horizontal planes. Specifically, when the robot puts its foot on the ground, it applies some excess force on the ground and confirms whether the foothold is likely to collapse, so as to choose a foothold will not collapse. In this study, we extended this method to weak and irregular slopes, where slippage needs to be considered. A new walking method was designed using a force distribution method. To validate the method, we show simulation results from force distribution and robotic experiments in various environments. These results demonstrate that our method allows a robot to walk carefully without slipping or stumbling, even when its foothold is lost.

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Section: Robot Dynamicsmentioning

confidence: 99%

“Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution

Ambe

Matsuno

2016

Robomech J

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“…다중결합 로봇 시스템 의 힘 분배 문제는 보행 로봇 제작에 대한 연구가 활발해지 기 시작한 1980년대 초부터 주목을 받아왔다 [4,5]. 현재까 지 발표된 힘 분배 문제에 대한 연구 결과들은 주로 정상적 인 동작을 하는 로봇에 대한 힘 분배를 제한 최적화 문제 (constrained optimization problem)로 해석하여 풀었다 [6][7][8][9]. 하지만 고장이 발생해도 보행을 계속할 수 있는 내고 장성 걸음새(fault-tolerant gait) [10,11] (6) 식 (3), (4), (6) …”

Section: 서 론unclassified

Algebraic Force Distribution in Hexapod Walking Robots with a Failed Leg

Yang¹

2009

Journal of Korean Institute of Intelligent Systems

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In this paper, a novel foot force distribution algorithm for hexapod walking robots is presented. The considered hexapod robot has fault-tolerant tripod gaits with a failed leg in locked-joint failure. The principle of the proposed algorithm is to minimize the slippage of the leg that determines the stability margin of the fault-tolerant gaits. The fault-tolerant tripod gait has a drawback that it has less stability margin than normal gaits. Considering this drawback, we use the feature that there are always three supporting legs, and by incorporating the theory of Zero-Interaction Force, we calculate the foot forces analytically without resort to any optimization technique. In a case study, the proposed algorithm is compared with a conventional foot force distribution method and its applicability is demonstrated.

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“…This method is also known as the minimum norm solution and has been used intensively in the control of legged robots (Gorinevsky and Shneider, 1990;Klein and Chung, 1987;Klein and Kittivatcharapong, 1990;Kumar and Waldron, 1988;Kumar and Waldron, 1990), More recently, some optimization methods have been proposed for solving the force-distribution problem that relay on criteria such as minimum force, load balance, safety margin or friction constraints (Chen et al, 1999;Zhou et al, 2000). These methods seem to be more practical than the pseudo-inverse method in terms of computation time.…”

Section: Foot Forces Along a Locomotion Cyclementioning

confidence: 99%

Improving walking-robot performances by optimizing leg distribution

2007

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Walking-robot technology has already achieved an important stage of development, as demonstrated in a few real applications. However, walking robots still need further improvement if they are to compete with traditional vehicles. A potential improvement could be made through optimization at design time. A better distribution of the legs around a robot's body can help decrease actuator size in the design procedure and reduce power consumption during walking as well, which is of vital importance in autonomous robots. This paper, thus, presents a method focused on the distribution of legs around the body to decrease maximum foot forces against the ground, which play heavily in determining robot shape and actuator size. Some experiments have been performed with the SILO6 walking robot to validate the theoretical results.

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Optimal force distribution in multilegged vehicles

Cited by 23 publications

References 20 publications

“Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution

“Leg-grope walk”: strategy for walking on fragile irregular slopes as a quadruped robot by force distribution

Algebraic Force Distribution in Hexapod Walking Robots with a Failed Leg

Improving walking-robot performances by optimizing leg distribution

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