Error Analysis of Multilegged Robots for Dead Reckoning

Yasushi Mae; Tatsuo Arai; Kenji Inoue

doi:10.20965/jrm.2002.p0170

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JRM Vol.14 No.2 pp. 170-176

doi: 10.20965/jrm.2002.p0170

(2002)

Paper:

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Error Analysis of Multilegged Robots for Dead Reckoning

Yasushi Mae, Tatsuo Arai and Kenji Inoue

Department of Systems and Human Science, Graduate School of Engineering Science, Osaka University, 1-3 Machikaneyama, Toyonaka, Osaka 560-8531, Japan

Received:

November 21, 2001

Accepted:

December 11, 2001

Published:

April 20, 2002

Keywords:

dead reckoning, error analysys, multilegged robots, limb mechanism, singular value decomposition

Abstract

A method of error analysis of dead reckoning in multilegged robot locomotion is proposed. Errors in joint angles of support legs cause errors in body pose and errors in joint angles of transfer legs cause errors in foothold positions. These errors are integrated as the robot walks. Basic equations for estimating errors are derived by small displacement analysis. 3 dimensional error distribution in dead reckoning is analyzed by singular value decomposition.

Cite this article as:

Y. Mae, T. Arai, and K. Inoue, “Error Analysis of Multilegged Robots for Dead Reckoning,” J. Robot. Mechatron., Vol.14 No.2, pp. 170-176, 2002.

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