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
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.
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