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Fault-Tolerant Tripod Gaits for Hexapod Robots  

양정민 (대구가톨릭대 전자공학과)
노지명 (대구가톨릭대 전자공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.52, no.12, 2003 , pp. 689-695 More about this Journal
Abstract
Fault-tolerance is an important design criterion for robotic systems operating in hazardous or remote environments. This paper addresses the issue of tolerating a locked joint failure in gait planning for hexapod walking machines which have symmetric structures and legs in the form of an articulated arm with three revolute joints. A locked joint failure is one for which a joint cannot move and is locked in place. If a failed joint is locked, the workspace of the resulting leg is constrained, but hexapod walking machines have the ability to continue static walking. A strategy of fault-tolerant tripod gait is proposed and, as a specific form, a periodic tripod gait is presented in which hexapod walking machines have the maximum stride length after a locked failure. The adjustment procedure from a normal gait to the proposed fault-tolerant gait is shown to demonstrate the applicability of the proposed scheme.
Keywords
walking robots; hexapod robots; fault tolerance; tripod gaits;
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Times Cited By KSCI : 4  (Citation Analysis)
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