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

Table 1

Coordinates of the foothold with the world coordinate system {W} as the reference coordinate system.

Foothold/Fi	(m)	(m)	(m)
1	0.1855	−0.2635	0
2	0.1855	−0.0135	0
3	0.1855	0.2635	0
4	−0.1855	−0.2635	0
5	−0.1855	−0.0135	0
6	−0.1855	0.2635	0