Optimal force distribution for the legs of an hexapod robot

In this paper we present direct and inverse kinematic models and a methodology for optimal force distribution calculation for the legs of an hexapod robot. This approach is used in the case of real time hexapod force control. The force distribution problem is formulated in terms of a nonlinear programming problem under equality and inequality constraints. Then, according to, the friction constraints are transformed from nonlinear inequalities into a combination of linear equalities and linear inequalities. The original nonlinear constrained programming problem is then transformed into a quadratic optimization problem. Some simulation results are given and perspectives on hexapod control are discussed.