Torque distribution for a six-legged robot

Erden M. S., Leblebicioglu K.

IEEE 14th Signal Processing and Communications Applications, Antalya, Turkey, 16 - 19 April 2006, pp.571-574 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/siu.2006.1659771
  • City: Antalya
  • Country: Turkey
  • Page Numbers: pp.571-574
  • Middle East Technical University Affiliated: Yes


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.