Fault Tolerant Gaits of Quadruped Robots for Locked Joint Failures

사각보행로봇의 관절고착고장을 위한 내고장성 걸음새

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.