一种高效的多足机器人足端力分配计算方法

Efficient Computation of Foot Force Distribution for Multi-Legged Robot

多足机器人在移动过程中存在足端力多解问题,首先归纳了求解该问题的两种方法,即伪逆法和优化法,指出两种算法各自存在的问题,然后提出了一种新的力/力矩分配算法,推导了以动力学方程为基础的计算模型。以六足机器人三条腿支撑情况为例比较了三种算法的优劣,计算结果表明新算法用时短,所得分配方案使机器人行走时能耗小,是一种高效的足端反力的求解方法。

There are multiple solutions for the foot force distribution of a moving multi-legged robot. Firstly, two approachesnamed pseudo-inverse method and the optimization method are summarized in this paper, and the problems of the two algo-rithms are pointed out. Then, a new force/ torque distribution algorithm is proposed. The computation model based on dynamicequations is derived. Finally, a 6-legged robot is studied as an example to comparing the characteristics of the three algo-rithms. The results show that the new algorithm uses much shorter time and enables the robot to walk with less energy con-sumption. Foot force distribution method that was proposed in this paper is efficient and excellent.