Solving the optimal force distribution problem in vehicles

Jeng Shi Chen, Fan Tien Cheng, Kai Tarng Yang, Fan Chu Kung, York Yin Sun

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages471-476
Number of pages6
ISBN (Print)078034300X
DOIs
Publication statusPublished - 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 1998 May 161998 May 20

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Other

Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
CountryBelgium
CityLeuven
Period98-05-1698-05-20

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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