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Fault-Tolerant Gait Generation of Hexapod Robots for Locked Joint Failures  

Yang Jung-Min (대구가톨릭대 전자공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.54, no.3, 2005 , pp. 131-140 More about this Journal
Abstract
Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.
Keywords
Hexapod Robots; Fault Tolerance; Locked Joint Failure; Crab Gaits; Kinematic Constraint;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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