Abstract
This paper dwells upon the torque distribution of a six-legged robot - considering minimum energy consumption. This distribution, named "torque distribution", is performed by minimizing the square-sum of the joint torques. For multileged robots the conventional approach is to perform the force-moment distribution by minimizing the square-sum of the tip point force components. This general approach of "force distribution" is compared with the proposed approach of "torque distribution" and it is concluded that "torque distribution" is more energy efficient.
Original language | Undefined/Unknown |
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Title of host publication | 2006 IEEE 14th Signal Processing and Communications Applications, Vols 1 and 2 |
Place of Publication | New York |
Publisher | IEEE |
Pages | 571-574 |
Number of pages | 4 |
ISBN (Print) | 978-1-4244-0238-0 |
DOIs | |
Publication status | Published - 2006 |
Event | IEEE 14th Signal Processing and Communications Applications - Antalya, Turkey Duration: 16 Apr 2006 → 19 Apr 2006 |
Conference
Conference | IEEE 14th Signal Processing and Communications Applications |
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Country/Territory | Turkey |
Period | 16/04/06 → 19/04/06 |
Keywords
- FORCE DISTRIBUTION EQUATIONS
- EFFICIENT FORMULATION
- KINEMATIC CHAINS
- OPTIMIZATION
- MANIPULATORS
- CONSTRAINTS
- MECHANISMS