Efficient force distribution algorithm for hexapod robot walking on uneven terrain

Force distribution is an important problem for the legged robots with active force control, the allocation of the foot forces can also achieve a desired force and torque on the hexapod robot. This paper presents a force distribution algorithm for redundant problem reduction, linearization and reducing the internal force. Combining the distribution algorithm with force control, the robot can walk on the uneven terrain and regulate the normal force based on the posture deformation of the trunk body, and a control framework based on the impedance model of legs is designed to enhance robustness facing unknown terrains. The extensive experiments have been carried out on a real hexapod robot named ElSpider, and the experimental results have demonstrated the effectiveness of the presented algorithm.