Abstract
A method of error analysis of dead reckoning in muk tilegged 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.
| Original language | English |
|---|---|
| Pages (from-to) | 170-176 |
| Number of pages | 7 |
| Journal | Journal of Robotics and Mechatronics |
| Volume | 14 |
| Issue number | 2 |
| DOIs | |
| Publication status | Published - 2002 |
| Externally published | Yes |
Keywords
- dead reckoning
- error analysys
- limb mechanism
- multilegged robots
- singular value decomposition