Torque distribution for a six-legged robot

Mustafa Suphi Erden, Kemal Leblebicioglu

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageUndefined/Unknown
Title of host publication2006 IEEE 14th Signal Processing and Communications Applications, Vols 1 and 2
Place of PublicationNew York
PublisherIEEE
Pages571-574
Number of pages4
ISBN (Print)978-1-4244-0238-0
DOIs
Publication statusPublished - 2006
EventIEEE 14th Signal Processing and Communications Applications - Antalya, Turkey
Duration: 16 Apr 200619 Apr 2006

Conference

ConferenceIEEE 14th Signal Processing and Communications Applications
CountryTurkey
Period16/04/0619/04/06

Keywords

  • FORCE DISTRIBUTION EQUATIONS
  • EFFICIENT FORMULATION
  • KINEMATIC CHAINS
  • OPTIMIZATION
  • MANIPULATORS
  • CONSTRAINTS
  • MECHANISMS

Cite this

Erden, M. S., & Leblebicioglu, K. (2006). Torque distribution for a six-legged robot. In 2006 IEEE 14th Signal Processing and Communications Applications, Vols 1 and 2 (pp. 571-574). IEEE. https://doi.org/10.1109/SIU.2006.1659771