Title :
Error analysis of dead reckoning of multi-legged robots
Author :
Mae, Yasushi ; Masuda, Toru ; Arai, Tatsuo ; Inoue, Kenji
Author_Institution :
Dept. of Syst. & Human Sci., Osaka Univ., Japan
Abstract :
This paper describes a method of analyzing the error of dead reckoning of multilegged robots. In dead reckoning of multilegged 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 3D distribution of the error is analyzed by singular value decomposition
Keywords :
computerised navigation; error analysis; legged locomotion; singular value decomposition; 3D error distribution; SVD; body posture error; contact positions; dead reckoning; error analysis; estimated error accumulation; multilegged robots; singular value decomposition; Dead reckoning; Equations; Error analysis; Estimation error; Leg; Legged locomotion; Mobile robots; Orbital robotics; Robot sensing systems; Shape;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.977201
