Landing Motion of a Legged Robot with Impact Force Reduction and Joint Torque Minimization

被引：5
|
作者：
Wan, Xianglong [1 ]
Urakubo, Takateru [1 ]
Tada, Yukio [1 ]
机构：
[1] Kobe Univ, Grad Sch Syst Informat, Dept Syst Sci, Nada Ku, Kobe, Hyogo 6578501, Japan
来源：
2013 SECOND INTERNATIONAL CONFERENCE ON ROBOT, VISION AND SIGNAL PROCESSING (RVSP) | 2013年
关键词：
singular configuration; multi-objective optimization; motion planning;
D O I：
10.1109/RVSP.2013.65
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper deals with an optimal landing motion of a 4-link legged robot that minimizes the impact force at the contact point and the joint torques necessary during the motion. The cost function for optimization is given as the weighted sum of the one for impact force and the one for joint torques. While the configuration where the leg is bent is advantageous in reducing the impact force, the configuration that is close to a singular configuration is advantageous in minimizing the joint torques. It is shown by numerical optimization results with different weights for the cost function.
引用
收藏
页码：259 / 264
页数：6
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