Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)
- 1999.11a
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- Pages.707-711
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- 1999
Fault Tolerant Gaits of Quadruped Robots for Locked Joint Failures
사각보행로봇의 관절고착고장을 위한 내고장성 걸음새
Abstract
In this paper, an algorithm of fault tolerant gaits for a quadruped robot is proposed for the purpose of tolerating a locked joint failure. The robot can continue its walking after a locked failure occurs to a joint of a leg by the proposed algorithm. In particular, a periodic gait is proposed as a special form of the proposed algorithm and its existence and efficiency are analytically proven.
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