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. D_L represents the ideal landing point; D_R represents the actual reference point; O_O represents the coordinate origin of the root joint of a single leg; and O_F represents the center of the hemispherical foot-end; D_A 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.