Position Error Research of Four-legged Walking Robot's Swing Leg

摘要

In the moving process of four-legged walking robot, the robot uses the random 3 foots to support its body, and the rest 1 foot to swing. This process is carried on alternately to complete the robot moved forward. If the robot's foothold position, the independent drive joint variables and the length of leg linkage are inaccurate, the robot's swing leg would deviate from the desired position, which led to the robot will deviate from the target track. The robot's swing leg trajectory is analyzed in this paper. On this basis, the swing leg trajectory accuracy is discussed under the condition that the errors of the robot's foothold position, drive joint variables and leg's linkage length are given. The analysis process is illustrated by an example. The error analysis has significant meaning for four-legged walking robot control.