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Optimal Force Distribution for Quadruped Walking Robots with a Failed Leg  

Yang, Jung-Min (대구가톨릭대 전자공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.58, no.3, 2009 , pp. 614-620 More about this Journal
Abstract
The force distribution in multi-legged robots is a constrained, optimization problem. The solution to the problem is the set points of the leg contact forces for a particular system task. In this paper, an efficient and general formulation of the force distribution problem is developed using linear programming. The considered walking robot is a quadruped robot with a locked-joint failure, i.e., a joint of the failed leg is locked at a known place. For overcoming the drawback of marginal stability in fault-tolerant gaits, we define safety margin on friction constraints as the objective function to be maximized. Dynamic features of locked-joint failure are represented by equality and inequality constraints of linear programming. Unlike the former study, our result can be applied to various forms of walking such as crab and turning gaits. Simulation results show the validity of the proposed scheme.
Keywords
Quadruped walking robots; Foot force distribution; Linear programming; Fault-tolerant gaits;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
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