Error analysis of dead reckoning of multi-legged robots

Yasushi Mae; Toru Masuda; Tatsuo Arai; Kenji Inoue

Error analysis of dead reckoning of multi-legged robots

Yasushi Mae^*, Toru Masuda, Tatsuo Arai, Kenji Inoue

^*Corresponding author for this work

Osaka University

Research output: Contribution to conference › Paper › peer-review

8 Citations (Scopus)

Abstract

This paper describes a method of analyzing the error of dead reckoning of multi-legged robots. In dead reckoning of multi-legged robots, the body posture and contact positions of legs are alternately estimated. The estimated error is accumulated in locomotion. We derive the basic equations for estimation of the error of body posture and the contact positions based on the small displacement analysis. The 3-D distribution of the error is analyzed by Singular Value Decomposition.

Original language	English
Pages	1558-1563
Number of pages	6
Publication status	Published - 2001
Externally published	Yes
Event	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States Duration: 29 Oct 2001 → 3 Nov 2001

Conference

Conference	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	Maui, HI
Period	29/10/01 → 3/11/01

Cite this

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title = "Error analysis of dead reckoning of multi-legged robots",

abstract = "This paper describes a method of analyzing the error of dead reckoning of multi-legged robots. In dead reckoning of multi-legged robots, the body posture and contact positions of legs are alternately estimated. The estimated error is accumulated in locomotion. We derive the basic equations for estimation of the error of body posture and the contact positions based on the small displacement analysis. The 3-D distribution of the error is analyzed by Singular Value Decomposition.",

author = "Yasushi Mae and Toru Masuda and Tatsuo Arai and Kenji Inoue",

year = "2001",

language = "English",

pages = "1558--1563",

note = "2001 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 29-10-2001 Through 03-11-2001",

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TY - CONF

T1 - Error analysis of dead reckoning of multi-legged robots

AU - Mae, Yasushi

AU - Masuda, Toru

AU - Arai, Tatsuo

AU - Inoue, Kenji

PY - 2001

Y1 - 2001

N2 - This paper describes a method of analyzing the error of dead reckoning of multi-legged robots. In dead reckoning of multi-legged robots, the body posture and contact positions of legs are alternately estimated. The estimated error is accumulated in locomotion. We derive the basic equations for estimation of the error of body posture and the contact positions based on the small displacement analysis. The 3-D distribution of the error is analyzed by Singular Value Decomposition.

AB - This paper describes a method of analyzing the error of dead reckoning of multi-legged robots. In dead reckoning of multi-legged robots, the body posture and contact positions of legs are alternately estimated. The estimated error is accumulated in locomotion. We derive the basic equations for estimation of the error of body posture and the contact positions based on the small displacement analysis. The 3-D distribution of the error is analyzed by Singular Value Decomposition.

UR - http://www.scopus.com/inward/record.url?scp=0035559829&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0035559829

SP - 1558

EP - 1563

T2 - 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 29 October 2001 through 3 November 2001

ER -

Error analysis of dead reckoning of multi-legged robots

Abstract

Conference

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