Torque Distribution for a Six-Legged Robot

Abstract

This paper dwells upon the torque distribution of a six-legged robot considering minimum energy consumption. This distribution, named "torque distribution", is performed by minimizing the square-sum of the joint torques. For multi-legged robots the conventional approach is to perform the force-moment distribution by minimizing the square-sum of the tip point force components. This general approach of "force distribution" is compared with the proposed approach of "torque distribution" and it is concluded that "torque distribution" is more energy efficient