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For large robots, the decrease in position accuracy that comes from compliance of the robot system poses significant problems. We propose a new compensation method to improve position accuracy of leg mechanisms of walking robots. With this method, compliance data that is measured manually in advance is used. At present, TITAN XI - a practical quadruped robot for use in construction - is under development, and this compensation method is being applied to its control system. In this paper, the measurement of the compliance of the leg system using a hydraulic cylinder, the bending of the legs in walking motion, and the walking motion with compensation are shown.
Date of Conference: 2-6 Aug. 2005