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Please use this identifier to cite or link to this item: http://dspace.library.iitb.ac.in/jspui/handle/10054/9459

Title: Minimum energy force distribution for a walking robot
Authors: KAR, DC
ISSAC, KK
JAYARAJAN, K
Keywords: legged locomotion
design
machine
Issue Date: 2001
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.
URI: http://dx.doi.org/10.1002/1097-4563(200102)18:2<47::AID-ROB1004>3.3.CO;2-J
http://dspace.library.iitb.ac.in/xmlui/handle/10054/9459
http://hdl.handle.net/10054/9459
ISSN: 0741-2223
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