کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
414500 | 680967 | 2011 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Estimation of optimal feet forces and joint torques for on-line control of six-legged robot
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موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Estimation of optimal feet forces and joint torques for on-line control of six-legged robot Estimation of optimal feet forces and joint torques for on-line control of six-legged robot](/preview/png/414500.png)
چکیده انگلیسی
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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 27, Issue 5, October 2011, Pages 910–917
Journal: Robotics and Computer-Integrated Manufacturing - Volume 27, Issue 5, October 2011, Pages 910–917
نویسندگان
Shibendu Shekhar Roy, Ajay Kumar Singh, Dilip Kumar Pratihar,