Optimal contact force distribution for multi-limbed robots

Journal of Mechanical Design

Volumn 128, Issue 3, 2006, Pages 566-573

  Hong, Dennis W ^a   Cipra, Raymond J ^b  

^a State University   (United States)

^b PURDUE UNIVERSITY   (United States)

Author keywords

Contact force solution; Contact point priority; Force space graph; Margin against slip; Multi contact force distribution; Multi limbed robots; Optimization; Solution volume representation

Indexed keywords

COMPUTATIONAL GEOMETRY; FRICTION; MOBILE ROBOTS; OPTIMAL CONTROL SYSTEMS; OPTIMIZATION; ROBUSTNESS (CONTROL SYSTEMS);

CONTACT FORCE SOLUTION; CONTACT POINT PRIORITY; MULTI-CONTACT FORCE DISTRIBUTION; MULTI-LIMBED ROBOTS; SOLUTION VOLUME REPRESENTATION;

ROBOTICS;

EID: 33646174534     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2179462     Document Type: Article

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