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.
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 |
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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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