Position Error Research of Multi-Legged Walking Robots with Hand-Foot-Integration Function

Jing Chao Zou; Liang Wen Wang; Wei Gang Tang; Duan Qin Zhang; Wei Hong Chen

doi:10.4028/www.scientific.net/AMR.317-319.776

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 317-319Position Error Research of Multi-Legged Walking...

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.

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Periodical:

Advanced Materials Research (Volumes 317-319)

Pages:

776-781

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.317-319.776

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Online since:

August 2011

Authors:

Jing Chao Zou, Liang Wen Wang, Wei Gang Tang, Duan Qin Zhang, Wei Hong Chen

Keywords:

Error Analysis, Forward Kinematics, Integrated Arm-Leg Hand-Foot Function, Multi-Legged Robot

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References

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