Force distribution of a six-legged walking robot with high constant speed

For a walking robot with high constant body speed, the dynamic effects of t he legs on the transfer phase are dominant compared with other factors. Thi s paper presents a new force distribution algorithm to maximize walkable te rrain without slipping considering the dynamic effects of the legs on the t ransfer phase. Maximizing the walkable terrain means having the capability of walking on more slippery ground under the same constraint? namely consta nt body speed. A simple force distribution algorithm applied to the propose d walking model with a pantograph leg shows an improvement in the capabilit y of preventing foot-slippage compared with one using a pseudo-inverse meth od.