Paper Title:
Position Error Research of Multi-Legged Walking Robots with Hand-Foot-Integration Function
  Abstract

Development of integrated hand-foot function will speed up the practical application of multi-legged robots. If the positions of each foothold, the driven joint variables and length of linkage bar in leg are inaccurate, the arms (swing leg) of the robot are likely to deviate from required positions. In this paper, through the calculation process of the multi-legged walking robot's arm path, we discussed the calculating problem of the arm's position accuracy under the condition that the errors of foothold positions, driven joint variables and leg's linkage bar length are given. Detailed calculation formulas are given, and the analysis process is illustrated by an example.

  Info
Periodical
Advanced Materials Research (Volumes 317-319)
Chapter
Industrial Robotics and Automation
Edited by
Xin Chen
Pages
776-781
DOI
10.4028/www.scientific.net/AMR.317-319.776
Citation
J. C. Zou, L. W. Wang, W. G. Tang, D. Q. Zhang, W. H. Chen, "Position Error Research of Multi-Legged Walking Robots with Hand-Foot-Integration Function", Advanced Materials Research, Vols. 317-319, pp. 776-781, 2011
Online since
August 2011
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Price
$32.00
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