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

Jiang, WY; Liu, A; Howard, D

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.

Citation

Jiang, W., Liu, A., & Howard, D. (2004). Optimization of legged robot locomotion by control of foot-force distribution. Transactions of the Institute of Measurement and Control, 26(4), 311-323. https://doi.org/10.1191/0142331204tm124oa

• Journal Article Type: Article
• Publication Date: Jan 1, 2004
• Deposit Date: Feb 23, 2012
• Journal: Transactions of the Institute of Measurement and Control
• Print ISSN: 0142-3312
• Publisher: SAGE Publications
• Peer Reviewed: Peer Reviewed
• Volume: 26
• Issue: 4
• Pages: 311-323
• DOI: https://doi.org/10.1191/0142331204tm124oa
• Publisher URL: http://dx.doi.org/10.1191/0142331204tm124oa