DocumentCode
2116558
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
Volume
3
fYear
2001
fDate
2001
Firstpage
1558
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.977201
Filename
977201
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