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

Figure 6

Attitude changes during the position-posture adjustment with or without correction. (a) Heading angle; (b) rolling angle; (c) pitching angle; (d) errors of heading angle; (e) errors of rolling angle; and (f) errors of pitching angle (error1 = error2 − error3; error2 represents the error between planning trajectory and trajectory without correction; error3 represents the error between planning trajectory and trajectory with correction).

(a)

(b)

(c)

(d)

(e)

(f)