대한전자공학회:학술대회논문집 (Proceedings of the IEEK Conference)
- 대한전자공학회 1999년도 추계종합학술대회 논문집
- /
- Pages.707-711
- /
- 1999
사각보행로봇의 관절고착고장을 위한 내고장성 걸음새
Fault Tolerant Gaits of Quadruped Robots for Locked Joint Failures
초록
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.
키워드