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

^*此作品的通讯作者

Osaka University

科研成果: 会议稿件 › 论文 › 同行评审

8 引用（Scopus）

摘要

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.

源语言	英语
页	1558-1563
页数	6
出版状态	已出版 - 2001
已对外发布	是
活动	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, 美国期限: 29 10月 2001 → 3 11月 2001

会议

会议	2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
国家/地区	美国
市	Maui, HI
时期	29/10/01 → 3/11/01

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链接到 Scopus 的出版物

引用此

@conference{3ff8c3d2006a45c3b467675e3592ae4a,

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",

}

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

摘要

会议

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指纹

引用此