@inproceedings{5313681c1fbb4fec967a310e49fcc24a,
title = "Force distribution based on loading capacity of a hexapod robot with insect-mammal mixed tripod gait",
abstract = "The problems associated with loading capacity need to be settled urgently before sophisticated applications of hexapod robots. Ground reaction forces acting at the feet of supporting legs determine the joint moments of each leg and counteract external and inertial forces and moments of the robot to keep balance. An efficient approach for optimizing the foot force distribution is proposed to improve the loading capacity of hexapod robots with the insect-mammal mixed tripod gait. Force and moment equilibrium equations are combined with suitable constraints for obtaining a solution of foot forces, which will minimize joint moments and increase the loading capacity of hexapod robots.",
keywords = "Force distribution, Hexapod robot, Insect-mammal mixed tripod gait, Loading capacity",
author = "S. Peng and X. Ding and M. Ceccarelli and F. Yang",
year = "2015",
doi = "10.6567/IFToMM.14TH.WC.OS13.044",
language = "英语",
series = "2015 IFToMM World Congress Proceedings, IFToMM 2015",
publisher = "National Taiwan University",
booktitle = "2015 IFToMM World Congress Proceedings, IFToMM 2015",
address = "中国台湾",
note = "14th International Federation for the Promotion of Mechanism and Machine Science World Congress, IFToMM 2015 ; Conference date: 25-10-2015 Through 30-10-2015",
}