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The paper develops a systematic method for kinematics modeling of multi-legged robots for walking on rough terrain. An extended D-H table is proposed for characterizing the robot joints and linkages parameters. The equations of motions are set up using this table for different frames starting from the robot reference frame, going through individual legs and finally reaching feet-terrain contact frames. The composite equation of motion is formed from those of individual legs. The formulation allows determining actuations to various joints for achieving a desired robot motion, while optimizing a performance index such as a stability measure. For illustration, the method is applied to SILO4, an articulated quadruped.S −

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In order to provide users with intelligent services, ubiquitous computing needs to make user situation analysis in consideration of users' mobility. Thus, this paper defines context structure for recognizing dynamic changes in users' environment and proposes a model of multi-agent for processing users' context. The proposed context structure distinguishes between dynamic and static contexts according to the volume of context change, and defines communication protocols among agents. By doing so, the user can get service for own in dynamic environment.