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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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:	02 Nov 2020 18:01
URI:	http://usir.salford.ac.uk/id/eprint/20673

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