Torque distribution of a Multi-Legged Robot with Parallel Legs
Foot force distribution is one of the most important problems in locomotion robots. The required joint forces and torques of the supporting legs are closely relative to it. In this paper, a six-legged robot is proposed. Each leg consists of a 3-UPS parallel mechanism with 6 DOF. While in the supporting phases, the RPY angles of the foot posture become redundant. A two-step optimization is proposed. The first step is to optimize the foot forces, and the second step is to control the posture of the foot. By applying the two steps, the required maximum torque of the driving motors can be reduced.
legged locomotion torque distribution 3-UPS parallel mechanism
Chen Xianbao Gao Feng Qi Chenkun Zhao Xianchao
Shanghai Jiaotong University Shanghai,China
国际会议
上海
英文
1-5
2011-10-14（万方平台首次上网日期，不代表论文的发表时间）