NDLI: Error analysis of multi-legged walking robots based on forward kinematics

Content Provider	IEEE Xplore Digital Library
Author	Liangwen Wang Xuedong Chen Qingjiu Huang
Copyright Year	2007
Description	Author affiliation: Sch. of Mech. Sci. & Technol., Huazhong Univ. of Sci. & Technol., Wuhan (Liangwen Wang; Xuedong Chen)
Abstract	Determining precisely the motion of robot body is of great significance to the location and control of mobile robots. If the positions of each foothold and the driven joint variables are inaccurate, actual posture of the robot is likely to deviate from requirement. In this paper, based on the forward kinematics of a multi-legged walking robot, the posture accuracy of the robot is discussed in terms of errors of foothold positions and independent driven joint variables of the robot. The position errors of the dependent joints are firstly derived from the constraint equations which descript the kinematic relation between independent and dependent joints. The error of orientation matrix of the robot is then calculated. Finally, the position error of Center-of-Gravity of the robot is obtained on the base of the above calculation. The analysis process is verified through a numerical example.
Starting Page	1172
Ending Page	1177
File Size	299379
Page Count	6
File Format	PDF
ISBN	9781424417612
DOI	10.1109/ROBIO.2007.4522330
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Error analysis Robot kinematics Leg Manufacturing Mobile robots Error correction Motor drives Biomimetics Laboratories Multi-legged walking robot Forward kinematic calculation
Content Type	Text
Resource Type	Article

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