Dead Reckoning of Multi-legged Robot ― Error Analysis ―

摘要

This paper proposes a method of dead reckoning of multi-legged robot. Multi-legged robots are required to do tasks on a rough terrain in an outdoor environment. It is important to estimate the self posture of the multi-legged robot for doing various tasks. Thus, dead reckoning of multi-legged robot is required for estimating posture. In order to validate dead reckoning of multi-legged robot, we analyze the error between joint parameter and the posture of the body of a multi-legged robot.