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Fault Tolerant Gaits of a Hexapod Robot with a Foot Trajectory Adjustment  

Yang Jung-Min (Department of Electrical Engineering, Catholic University of Daegu)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.42, no.3, 2005 , pp. 1-10 More about this Journal
Abstract
This paper proposes a novel fault-tolerant gait planning of a hexapod robot considering kinematic constraints. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. It is shown that the conventional fault-tolerant gait of a hexapod robot for forward walking on even terrain may be fallen into deadlock, depending on the configuration of the failed leg. For coping with such deadlock situation, a novel fault-tolerant gait planning is proposed. It can avoid deadlock by adjusting the position of the foot trajectory, and has the same leg sequence and stride length as those of the conventional fault-tolerant gait. To demonstrate the superiority of the proposed scheme, a case study is presented in which a hexapod robot, having walked over even terrain before a locked joint failure, could avoid deadlock and continue its walking by the proposed fault-tolerant gait planning.
Keywords
Hexapod robots; Gait study; Fault tolerance; Locked joint failure; Foot trajectory adjustment;
Citations & Related Records
Times Cited By KSCI : 4  (Citation Analysis)
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