Optimization of legged robot locomotion by control of foot-force distribution

Jiang, WY, Liu, A ORCID: https://orcid.org/0000-0001-9416-1726 and Howard, D ORCID: https://orcid.org/0000-0003-1738-0698 2004, 'Optimization of legged robot locomotion by control of foot-force distribution' , Transactions of the Institute of Measurement and Control, 26 (4) , pp. 311-323.

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The contribution of this paper is the introduction of three new pseudo-inverse formulations for the real-time control of foot-force distribution in multi-legged walking machines. Three alternative locomotion performance objectives are proposed for the purpose of optimizing the foot-force distribution. An exhaustive search method has been used to obtain truly optimal results, which are then used for comparison with the results obtained using suboptimal pseudo-inverse formulations that are suitable for real-time control. Simulation results show that, by using the appropriate pseudo-inverse formulation, a good approximation to the corresponding optimal foot-force distribution can be obtained. Furthermore, it is clear that the friction duty factor formulation provides an excellent real-time solution for minimizing the risk of foot-slip.

Item Type: Article
Themes: Health and Wellbeing
Schools: Schools > School of Health and Society > Centre for Health Sciences Research
Journal or Publication Title: Transactions of the Institute of Measurement and Control
Publisher: Sage
Refereed: Yes
ISSN: 01423312
Depositing User: Users 29196 not found.
Date Deposited: 23 Feb 2012 11:38
Last Modified: 27 Aug 2021 20:03
URI: http://usir.salford.ac.uk/id/eprint/20673

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