Jiang, WY, Liu, A and Howard, D 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.
Full text not available from this repository. (Request a copy)Abstract
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: | 10 Oct 2018 07:59 |
| URI: | http://usir.salford.ac.uk/id/eprint/20673 |
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