An optimal force distribution algorithm for the legs of a hexapod walking robot

This paper presents a model for a hexapod robot to solve the optimal force distribution problem with equality and inequality constraints. To find a fast way to obtain a suitable force distribution for the hexapod robots, an analytical force distribution method using the principle of linear interpolation of optimal solution for the control is introduced. The smoothness and continuousness of the solution and its ability to prevent leg slippage is evaluated by simulation.