Solving the optimal force distribution problem in vehicles

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

研究成果: Conference contribution

5 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
發行者Institute of Electrical and Electronics Engineers Inc.
頁面471-476
頁數6
ISBN(列印)078034300X
DOIs
出版狀態Published - 1998 一月 1
事件15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
持續時間: 1998 五月 161998 五月 20

出版系列

名字Proceedings - IEEE International Conference on Robotics and Automation
1
ISSN(列印)1050-4729

Other

Other15th IEEE International Conference on Robotics and Automation, ICRA 1998
國家Belgium
城市Leuven
期間98-05-1698-05-20

All Science Journal Classification (ASJC) codes

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

引用此

Chen, J. S., Cheng, F. T., Yang, K. T., Kung, F. C., & Sun, Y. Y. (1998). Solving the optimal force distribution problem in vehicles. 於 Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998 (頁 471-476). [677019] (Proceedings - IEEE International Conference on Robotics and Automation; 卷 1). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBOT.1998.677019