Error Analysis of Multilegged Robots for Dead Reckoning

Yasushi Mae; Tatsuo Arai; Kenji Inoue

doi:10.20965/jrm.2002.p0170

Error Analysis of Multilegged Robots for Dead Reckoning

Yasushi Mae^*
, Tatsuo Arai
, Kenji Inoue

^*此作品的通讯作者

The University of Osaka

科研成果: 期刊稿件 › 文章 › 同行评审

摘要

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.

源语言	英语
页（从-至）	170-176
页数	7
期刊	Journal of Robotics and Mechatronics
卷	14
期	2
DOI	https://doi.org/10.20965/jrm.2002.p0170
出版状态	已出版 - 2002
已对外发布	是

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title = "Error Analysis of Multilegged Robots for Dead Reckoning",

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.",

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

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AB - 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.

KW - dead reckoning

KW - error analysys

KW - limb mechanism

KW - multilegged robots

KW - singular value decomposition

UR - https://www.scopus.com/pages/publications/85165968524

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DO - 10.20965/jrm.2002.p0170

M3 - Article

AN - SCOPUS:85165968524

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JO - Journal of Robotics and Mechatronics

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ER -

Error Analysis of Multilegged Robots for Dead Reckoning

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