Journal of Mechanical Science and Technology

The Korean Society of Mechanical Engineers (대한기계학회)
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Force Distribution of a Six-Legged Walking Robot with High Constant Speed

  • Jung, Kwang-Suk (Department of Mechanical Engineering, Yonsei University) ;
  • Baek, Yoon-Su (Department of Mechanical Design and Production Engineering, Yonsei University)
  • Published : 2000.02.01
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Abstract

For a walking robot with high constant body speed, the dynamic effects of the legs on the transfer phase are dominant compared with other factors. This paper presents a new force distribution algorithm to maximize walkable terrain without slipping considering the dynamic effects of the legs on the transfer phase. Maximizing the walkable terrain means having the capability of walking on more slippery ground under the same constraint, namely constant body speed. A simple force distribution algorithm applied to the proposed walking model with a pantograph leg shows an improvement in the capability of preventing foot-slippage compared with one using a pseudo-inverse method.

Keywords

References

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