Torque distribution for a six-legged robot

Mustafa Suphi Erden; Kemal Leblebicioglu

doi:10.1109/SIU.2006.1659771

Torque distribution for a six-legged robot

Mustafa Suphi Erden, Kemal Leblebicioglu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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
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	https://doi.org/10.1109/SIU.2006.1659771
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
Country/Territory	Turkey
Period	16/04/06 → 19/04/06

Keywords

FORCE DISTRIBUTION EQUATIONS
EFFICIENT FORMULATION
KINEMATIC CHAINS
OPTIMIZATION
MANIPULATORS
CONSTRAINTS
MECHANISMS

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/SIU.2006.1659771

Cite this

@inproceedings{b49ad45400654237b7789f83fe63b4e5,

title = "Torque distribution for a six-legged robot",

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.",

keywords = "FORCE DISTRIBUTION EQUATIONS, EFFICIENT FORMULATION, KINEMATIC CHAINS, OPTIMIZATION, MANIPULATORS, CONSTRAINTS, MECHANISMS",

author = "Erden, {Mustafa Suphi} and Kemal Leblebicioglu",

year = "2006",

doi = "10.1109/SIU.2006.1659771",

language = "Undefined/Unknown",

isbn = "978-1-4244-0238-0",

pages = "571--574",

booktitle = "2006 IEEE 14th Signal Processing and Communications Applications, Vols 1 and 2",

publisher = "IEEE",

address = "United States",

note = "null ; Conference date: 16-04-2006 Through 19-04-2006",

}

TY - GEN

T1 - Torque distribution for a six-legged robot

AU - Erden, Mustafa Suphi

AU - Leblebicioglu, Kemal

PY - 2006

Y1 - 2006

N2 - 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.

AB - 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.

KW - FORCE DISTRIBUTION EQUATIONS

KW - EFFICIENT FORMULATION

KW - KINEMATIC CHAINS

KW - OPTIMIZATION

KW - MANIPULATORS

KW - CONSTRAINTS

KW - MECHANISMS

U2 - 10.1109/SIU.2006.1659771

DO - 10.1109/SIU.2006.1659771

M3 - Conference contribution

SN - 978-1-4244-0238-0

SP - 571

EP - 574

BT - 2006 IEEE 14th Signal Processing and Communications Applications, Vols 1 and 2

PB - IEEE

CY - New York

Y2 - 16 April 2006 through 19 April 2006

ER -