Vision stability of four-legged robot based on the feedback of motion parameters

Abstract

The motion parameters of the legs of four-legged robot are collected and sent to the robot vision system, which can solve the stabilization problems of the software-based algorithms in searching for the global motion parameters. The motion jitter parameters of the four legs are extracted combined with the software stabilization methods, which work as the basis for solving global motion parameters and provide guidance for the parameters of the solution. The simulation tools of MATLAB SimMechanics toolkits are utilized to analysis stability. Compared with other related algorithms, the results indicate that the proposed algorithm for four-legged robot movement in real time is better and more accurate. © 2011 Published by Elsevier Ltd.