Error Analysis of Multilegged Robots for Dead Reckoning | Zendy

Yasushi Mae | Zendy; Tatsuo Arai | Zendy; Inoue Kenji | Zendy

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Error Analysis of Multilegged Robots for Dead Reckoning

Author(s) -

Yasushi Mae,

Tatsuo Arai,

Inoue Kenji

Publication year - 2002

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2002.p0170

Subject(s) - dead reckoning , robot , computer science , singular value decomposition , error analysis , displacement (psychology) , computer vision , control theory (sociology) , artificial intelligence , simulation , mathematics , psychology , telecommunications , control (management) , global positioning system , psychotherapist

A method of error analysis of dead reckoning in multilegged 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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