대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1995년도 하계학술대회 논문집 B
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- Pages.874-876
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- 1995
다각 보행로보트의 순응 제어를 위한 힘의 최적 분배
Optimal Force Distribution for Compliance Control of Multi-legged Walking Robots
- Ra, In-Hwan (Dept. of Electrical Eng., Chung-Ang Univ.) ;
- Yang, Won-Young (Dept. of Electrical Eng., Chung-Ang Univ.) ;
- Chung, Tae-Sang (Dept. of Control & Instrumentation Eng., Chung-Ang Univ.)
- 발행 : 1995.07.20
초록
Force and compliance control has been used in the control of legged walking vehicles to achieve superior terrain adaptability on rough terrains. The compliance control requires distribution of the vehicle load over the supporting legs. However, the constraint equations for ground reaction forces of supporting legs are generally underdetermined, allowing an infinite number of solutions. Thus, it is possible to apply an optimization criteria in solving the force setpoint problem. It has been observed that the previous force setpoint optimization methods sometimes cause a system stability problem and/or the load distribution among supporting legs is not well balanced due to a memory effect on the solution trajectory, This paper presents an iterative force setpoint method to solve this problem using an interpolation technique. By simulation it was shown that an excessive load unbalance among supporting legs and the memory effect in the force trajectory are alleviated much with the proposed method.
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