A new analytical method for determining, describing, and visualizing the solution space for the contact force distribution of multi-limbed robots with three feet in contact with the environment in three-dimensional space is presented. The foot contact forces are first resolved into strategically defined foot contact force components to decouple them, and then the static equilibrium equations are applied. Using the friction cone equation at each foot contact point, the problem is then transformed into a geometrical one. Using geometric properties of the friction cones and by simple manipulation of their conic sections, the entire solution space which satisfies the static equilibrium and friction constraints at each contact point can be found. Two representation schemes, the “force space graph” and the “solution volume representation,” are developed for describing and visualizing the solution space which gives an intuitive visual map of how well the solution space is formed for the given conditions of the system.
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January 2006
Research Papers
Visualization of the Contact Force Solution Space for Multi-Limbed Robots
Raymond J. Cipra
Raymond J. Cipra
School of Mechanical Engineering,
e-mail: cipra@ecn.purdue.edu
Purdue University
, 585 Purdue Mall, West Lafayette, IN 47907-2088
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Dennis W. Hong
Raymond J. Cipra
School of Mechanical Engineering,
Purdue University
, 585 Purdue Mall, West Lafayette, IN 47907-2088e-mail: cipra@ecn.purdue.edu
J. Mech. Des. Jan 2006, 128(1): 295-302 (8 pages)
Published Online: June 24, 2005
Article history
Received:
June 28, 2004
Revised:
June 24, 2005
Citation
Hong, D. W., and Cipra, R. J. (June 24, 2005). "Visualization of the Contact Force Solution Space for Multi-Limbed Robots." ASME. J. Mech. Des. January 2006; 128(1): 295–302. https://doi.org/10.1115/1.2118732
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