0
TECHNICAL BRIEFS

Force Distribution in Walking Machines Over Rough Terrain

[+] Author and Article Information
John F. Gardner

The Pennsylvania State University, University Park, PA 16802

J. Dyn. Sys., Meas., Control 113(4), 754-758 (Dec 01, 1991) (5 pages) doi:10.1115/1.2896488 History: Received December 15, 1989; Revised November 09, 1990; Online March 17, 2008

Abstract

This paper presents a computationally efficient technique for the solution of the force distribution problem in walking machines. It differs from previous techniques in two important respects. First, the formulation of the problem allows for arbitrarily oriented surface normals at the point of contact between the feet and the ground. This is an important extension since the primary purpose of legged vehicles is locomotion on rough terrain. Second, the solution technique allows for the introduction of nonlinear constraints which can be tailored to achieve secondary goals in system performance. An example is presented which is based on the geometry of the Ohio State University Adaptive Suspension Vehicle which indicates that the technique performs favorably when compared to pseudo-inverse and computationally intensive optimization methods.

Copyright © 1991 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In