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An efficient foot-force distribution algorithm for quadruped walking robots

Published online by Cambridge University Press:  09 April 2001

Debao Zhou ,
K. H. Low  and
Teresa Zielinska
Debao Zhou
Affiliation:
Robotics Research Center, School of Mechanical and Production Engineering, Nanyang Technological University, Singapore 639798 (Republic of Singapore)
K. H. Low
Affiliation:
Robotics Research Center, School of Mechanical and Production Engineering, Nanyang Technological University, Singapore 639798 (Republic of Singapore)
Teresa Zielinska
Affiliation:
Warsaw University of Technology, MEiL ul. Nowowiejska 24, 00–665 Warsaw (Poland)
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Abstract

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One of the important issues of walking machine active force control is a successful distribution of the body force to the feet to prevent leg slippage. In this paper, a new force distribution method, the Friction Constraint Method (FriCoM), is introduced. The force distribution during the walking of a typical quadruped crawl gait is analyzed by using the FriCoM. Computation results show that the distributed forces of the feet are continuous during the walking. This reflects the change of the force distribution during actual conditions. The comparison with a pseudo-inverse method shows that the FriCoM is more practical. The FriCom also requires less computation time than that by an incremental optimization method. Some problems, such as the singularity in the application of the FriCoM, are discussed. The FriCoM will be used in the active force control of a quadruped robot that is taken as a platform for the research on the study of terrain adaptation.

Keywords

Quadruped walking robotForce distributionFriction constraintsFriCoM
Type
Research Article
Information
Robotica , Volume 18 , Issue 4 , July 2000 , pp. 403 - 413
Copyright
© 2000 Cambridge University Press