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|Title:||Minimum energy force distribution for a walking robot|
|Publisher:||JOHN WILEY & SONS INC|
|Citation:||JOURNAL OF ROBOTIC SYSTEMS, 18(2), 47-54|
|Abstract:||Here, the foot force distribution for a six-legged walking machine is resolved for minimum energy consumption over a full cycle for regular wave gaits. Some insects utilize horizontal foot forces to reduce muscle forces and energy consumption [R. J. Full, R. Blickhan, and L. H. Ting, J. Exp. Biology 158 (1991), 369-390]. Foot force distribution for minimum energy consumption when applied to the walking machine, also supports this observation. In this study, geometric work loss for a walking machine with articulated legs is minimized by controlling interaction forces at the foot-ground interface. Minimum energy foot forces are studied for various duty factors, lateral offsets, link proportions, and friction between foot and ground. (C) 2001 , Inc.|
|Appears in Collections:||Article|
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