@inproceedings{7cc8f82415c548f49935280407b33b4f,
title = "Solving the optimal force distribution problem in vehicles",
abstract = "The force distribution problem in multilegged vehicles is a constrained optimization problem. The solution to the problem is the setpoints of the leg contact forces for a particular system task. In this paper, the efficient compact QP method which takes into account both the linear and quadratic objective functions is adopted to resolve this constrained optimization problem. Various objective functions such as minimum force, load balance, safety margin on friction constraints can be considered by the compact QP method. This method can also be applied to smooth discontinuities in commanded forces by manipulating the homogeneous solution and including smoothing periods when the leg phase alternates between support and transfer. This smoothing scheme does not require force sensors. Multiple goals which consider several alternative objective functions can also be achieved by the compact QP method.",
author = "Chen, {Jeng Shi} and Cheng, {Fan Tien} and Yang, {Kai Tarng} and Kung, {Fan Chu} and Sun, {York Yin}",
note = "Publisher Copyright: {\textcopyright} 1998 IEEE.; 15th IEEE International Conference on Robotics and Automation, ICRA 1998 ; Conference date: 16-05-1998 Through 20-05-1998",
year = "1998",
doi = "10.1109/ROBOT.1998.677019",
language = "English",
isbn = "078034300X",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "471--476",
booktitle = "Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998",
address = "United States",
}