An optimal force distribution algorithm for the legs of a hexapod walking robot

机译：六足步行机器人腿部的最佳力分配算法

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This paper presents a model for a hexapod robot to solve the optimal force distribution problem with equality and inequality constraints. To find a fast way to obtain a suitable force distribution for the hexapod robots, an analytical force distribution method using the principle of linear interpolation of optimal solution for the control is introduced. The smoothness and continuousness of the solution and its ability to prevent leg slippage is evaluated by simulation.

机译：本文提出了一种六足机器人模型，该模型可以解决具有相等和不平等约束的最优力分配问题。为了找到一种快速的方法来为六足机器人获得合适的力分布，介绍了一种使用线性插值原理求解最优控制方法的解析力分布方法。通过仿真评估溶液的光滑度和连续性及其防止腿打滑的能力。

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来源
《Fifth Asia International Symposium on Mechatronics》|2015年|1-5|共5页
会议地点 Guilin(CN)
作者
C. Chen;
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作者单位

Nanjing Researchlnstitute of Electronics Technology, 210039, China;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Walking robot; force distribution problem; friction constraints; hexapod; linear interpolation;

机译：步行机器人；力分布问题；摩擦约束；六足；线性插值;

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1. Study on feet forces' distributions, energy consumption and dynamic stability measure of hexapod robot during crab walking [J] . Abhijit Mahapatra, Shibendu Shekhar Roy, Dilip Kumar Pratihar Applied Mathematical Modelling . 2019,第JANa期

机译：六足机器人在行走过程中脚力分布，能量消耗及动态稳定措施的研究
2. OPTIMAL DESIGN OF HEXAPOD WALKING ROBOT LEG STRUCTURE BASED ON ENERGY CONSUMPTION AND WORKSPACE [J] . Zhu Ya-guang, Jin Bo, Li Wei, Transactions of the Canadian Society for Mechanical Engineering . 2014,第3期

机译：基于能量消耗和工作空间的六足步行机器人腿结构的优化设计
3. Minimizing the Energy Consumption for a Hexapod Robot Based on Optimal Force Distribution [J] . Wang Guanyu, Ding Liang, Gao Haibo, Quality Control, Transactions . 2020,第期

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4. An optimal force distribution algorithm for the legs of a hexapod walking robot [C] . C. Chen Asia International Symposium on Mechatronics . 2015

机译：六角行走机器人腿的最佳力分布算法
5. Locomotion Performance of Hexapod Robots on Rough Substrates and the In?uence of Leg Compliance [D] . Bhattacharyya, Amartya. 2019

机译：粗基质上六足动物机器人的机置性能和腿部遵守的in？
6. A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain [O] . He Zhang, Rui Wu, Changle Li, 2017

机译：用于仿生六足机器人与非结构化地形交互的腿部力感测系统
7. Minimizing the Energy Consumption for a Hexapod Robot Based on Optimal Force Distribution [O] . Guanyu Wang, Liang Ding, Haibo Gao, 2020

机译：基于最优力分布，最小化六角峰机器人的能耗

An optimal force distribution algorithm for the legs of a hexapod walking robot

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