Walking machine position and force control

1999 ◽  
Author(s):  
T. Zielinska ◽  
J. Heng ◽  
G. Seet
Keyword(s):  
Force Control ◽  
Walking Machine

An efficient foot-force distribution algorithm for quadruped walking robots

Robotica ◽  
2000 ◽  
Vol 18 (4) ◽  
pp. 403-413 ◽  
Author(s):  
Debao Zhou ◽  
K. H. Low ◽  
Teresa Zielinska
Keyword(s):  
Force Control ◽  
Computation Time ◽  
Optimization Method ◽  
The Body ◽  
Walking Robots ◽  
Force Distribution ◽  
Active Force ◽  
Distribution Method ◽  
Walking Machine ◽  
Active Force Control

One of the important issues of walking machine active force control is a successful distribution of the body force to the feet to prevent leg slippage. In this paper, a new force distribution method, the Friction Constraint Method (FriCoM), is introduced. The force distribution during the walking of a typical quadruped crawl gait is analyzed by using the FriCoM. Computation results show that the distributed forces of the feet are continuous during the walking. This reflects the change of the force distribution during actual conditions. The comparison with a pseudo-inverse method shows that the FriCoM is more practical. The FriCom also requires less computation time than that by an incremental optimization method. Some problems, such as the singularity in the application of the FriCoM, are discussed. The FriCoM will be used in the active force control of a quadruped robot that is taken as a platform for the research on the study of terrain adaptation.

Mechanical Design of a Non-Overconstrained Walking Machine

1995 ◽  
Author(s):  
E. Fichter ◽  
B. Fichter
Keyword(s):  
Force Control ◽  
Mechanical Design ◽  
Control Algorithms ◽  
Walking Machine ◽  
Walking Machines ◽  
Darkling Beetles ◽  
Leg Kinematics

Abstract This paper describes the mechanical design of a walking machine that avoids overconstraint. All current walking machines that are also capable of standing on their own are overconstrained and must depend on force control algorithms to control joints. From observations of darkling beetles we have concluded that it is possible for them to perambulate while keeping their bodies constrained but not overconstrained. Our walking machine was built to test hypotheses of how these beetles walk. We discuss the aspects of beetle leg kinematics that are most important for non-overconstrained walking.

Impaired anticipation of force control following lateralised brain damage in size-weight illusion

2008 ◽  
Vol 35 (S 01) ◽  
Author(s):  
Y Li ◽  
J Randerath ◽  
G Goldenberg ◽  
J Hermsdörfer
Keyword(s):  
Brain Damage ◽  
Force Control ◽  
Weight Illusion

Altered isometric force control during object release in patients with Huntington's Disease

2005 ◽  
Vol 32 (S 4) ◽  
Author(s):  
F Kirsten ◽  
S Bohlen ◽  
J Sommer ◽  
T Merl ◽  
P Saemann ◽  
...  
Keyword(s):  
Huntington's Disease ◽  
Huntington’S Disease ◽  
Force Control ◽  
Isometric Force

Effect of Inner and Outer Wheels Driving Force Control on Small Electric Vehicle

2020 ◽  
Vol 17 (4) ◽  
pp. 8246-8254
Author(s):  
K. Shibazaki ◽  
H. Nozaki
Keyword(s):  
Control System ◽  
Angular Velocity ◽  
Electric Vehicle ◽  
Force Constant ◽  
Force Control ◽  
Driving Force ◽  
Vehicle Control ◽  
Steering Angle ◽  
Force Control System ◽  
The Difference

In this study, in order to improve steering stability during turning, we devised an inner and outer wheel driving force control system that is based on the steering angle and steering angular velocity, and verified its effectiveness via running tests. In the driving force control system based on steering angle, the inner wheel driving force is weakened in proportion to the steering angle during a turn, and the difference in driving force is applied to the inner and outer wheels by strengthening the outer wheel driving force. In the driving force control (based on steering angular velocity), the value obtained by multiplying the driving force constant and the steering angular velocity,  that differentiates the driver steering input during turning output as the driving force of the inner and outer wheels. By controlling the driving force of the inner and outer wheels, it reduces the maximum steering angle by 40 deg and it became possible to improve the cornering marginal performance and improve the steering stability at the J-turn. In the pylon slalom it reduces the maximum steering angle by 45 deg and it became possible to improve the responsiveness of the vehicle. Control by steering angle is effective during steady turning, while control by steering angular velocity is effective during sharp turning. The inner and outer wheel driving force control are expected to further improve steering stability.

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