Kinematics correction algorithm for the LHDS of a legged robot with semi-cylindrical foot end based on V-DOF

The semi-cylindrical foot end of a legged robot is suitable for the robot movements in complex environments and is the most commonly used foot end type. However, its actual contact point will deviate from the ideal contact point when it touches the ground to support the robot or when it slips due to its specific structure, resulting in trajectory deviation. To solve this deviation problem between the actual and desired contact positions of the...