Torque distribution for a six-legged robot

Erden M. S., Leblebicioglu K.

IEEE 14th Signal Processing and Communications Applications, Antalya, Türkiye, 16 - 19 Nisan 2006, ss.571-574 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/siu.2006.1659771
  • Basıldığı Şehir: Antalya
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.571-574
  • Orta Doğu Teknik Üniversitesi Adresli: Evet

Özet

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.