Position Error Research of Four-legged Walking Robots Swing Leg
(0) In the moving process of four-legged walking robot,the robot uses the random 3 foots to support its body,and the rest 1 foot to swing.This process is carried on alternately to complete the robot moved forward.If the robots foothold position,the independent drive joint variables and the length of leg linkage are inaccurate,the robots swing leg would deviate from the desired position,which led to the robot will deviate from the target track.The robots swing leg trajectory is analyzed in this paper.On this basis,the swing leg trajectory accuracy is discussed under the condition that the errors of the robots foothold position,drive joint variables and legs linkage length are given.The analysis process is illustrated by an example.The error analysis has significant meaning for four-legged walking robot control.
Four-legged walking robots forward kinematics swing leg error analysis
Liangwen Wang Weihong Chen Caidong Wang
Mechanical and Electrical Engineering Institute, Zhengzhou University of Light Industry, Zhengzhou, Henan, 450002, China
国际会议
台湾
英文
29-33
2012-03-23（万方平台首次上网日期，不代表论文的发表时间）