Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction
(a) Schematic diagram of ideal foot-end pose adjustment. (b) Schematic diagram of hemispherical foot-end position-posture adjustment. Fn represents the initial foothold of the foot-tip of the nth leg of the robot. 'Fn represents the foothold of the foot-tip of the nth leg of the robot after the posture adjustment (n = 1, 2, 3, 4, 5, 6).
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