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Post-Failure Walking of Quadruped Robots on a Rough Planar Terrain  

Yang Jung-Min (대구가톨릭대 전자공학과)
Park Yong Kuk (대구가톨릭대 기계자동차공학부)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.54, no.9, 2005 , pp. 547-555 More about this Journal
Abstract
A fault-tolerant gait of multi-legged robots with static walking is a gait which can maintain gait stability and continue its walking against an occurrence of a leg failure. This paper proposes fault-tolerant gait planning of a quadruped robot walking over a rough planar terrain. 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. In this Paper, two-phase discontinuous gaits are presented as a new fault-tolerant gait for quadruped robots suffering from a locked joint failure. By comparing with previously developed one-phase discontinuous gaits, it is shown that the proposed gait has great advantages in gait performance such as the stride length and terrain adaptability. Based on the two-phase discontinuous gait, quasi follow-the-leader(FTL) gaits are constructed which enable a quadruped robot to traverse two-dimensional rough terrain after an occurrence of a locked joint failure. During walking, two front legs undergo the foot adjustment procedure for avoiding stepping on forbidden areas. The Proposed wait planning is verified by using computer graphics simulations.
Keywords
Quadruped Robots; Fault Tolerance; Locked Joint Failure; Discontinuous Gait; Rough Terrain; FTL;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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