Journal of Robotics / 2020 / Article / Fig 3

Research Article

Position-Posture Control of Multilegged Walking Robot Based on Kinematic Correction

Figure 3

Kinematics analysis of a single-leg mechanism of a robot with a hemispherical foot-end. DL represents the ideal landing point; DR represents the actual reference point; OO represents the coordinate origin of the root joint of a single leg; and OF represents the center of the hemispherical foot-end; DA represents the actual contact point of the hemispherical foot-end with the ground; φ represents the angle between the end link 3 and the surface normal; and R is the radius of the foot of the hemisphere.

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