Error analysis of dead reckoning of multi-legged robots

摘要

This paper describes a method of analyzing the error of dead reckoning of multi-legged robots. In dead reckoning of multi-legged robots, the body posture and contact positions of legs are alternately estimated. The estimated error is accumulated in locomotion. We derive the basic equations for estimation of the error of body posture and the contact positions based on the small displacement analysis. The 3-D distribution of the error is analyzed by Singular Value Decomposition.