Robotics: control, sensing, vision, and intelligence
Robotics: control, sensing, vision, and intelligence
Force control in locomotion of legged vehicles over rigid and soft surfaces
International Journal of Robotics Research
Machines That Walk: The Adaptive Suspension Vehicle
Machines That Walk: The Adaptive Suspension Vehicle
Torque Distribution in a Six-Legged Robot
IEEE Transactions on Robotics
Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot
Robotics and Autonomous Systems
Expert Systems with Applications: An International Journal
Dynamic modeling, stability and energy consumption analysis of a realistic six-legged walking robot
Robotics and Computer-Integrated Manufacturing
Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology - Recent Advances in Soft Computing: Theories and Applications
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The present study aims to estimate optimal feet forces and joint torques necessary for real-time control of a six-legged robot. Two approaches have been developed, such as minimization of norm of feet forces and minimization of norm of joint torques using the least squared method. Results of these two approaches have been compared with each other, and with those of available literature. As both of these approaches are found to be computationally fast, these are suitable for real-time control of the six-legged robot.