Position Error Research of Multi-Legged Walking Robots with Hand-Foot-Integration Function
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.
J. C. Zou et al., "Position Error Research of Multi-Legged Walking Robots with Hand-Foot-Integration Function", Advanced Materials Research, Vols. 317-319, pp. 776-781, 2011