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Stability Margin of Fault-Tolerant Gaits to Joint Jam for Quadruped Robots  

Yang Jung-Min (Department of Electrical Engineering, Catholic University of Daegu)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.43, no.5, 2006 , pp. 19-27 More about this Journal
Abstract
Improvement in gait stability of fault-tolerant gaits for quadruped robots is addressed in this paper. The previously developed fault-tolerant gait gives a quadruped robot the ability to continue its walk against the occurrence of a leg failure. But it has a drawback of having marginal gait stability, which may lead to tumbling when the robot body's center of gravity is perturbed. To overcome such a drawback, a novel fault-tolerant gait is presented in this paper that generates positive stability margin against a locked joint failure, in which a joint of a leg is locked in a known place. Positive stability margin is obtained by adjusting foot positions of supporting legs between leg swing sequences. The advantages of the proposed fault-tolerant gait are discussed by comparing with the previous gait in terms of gait stability, stride length and gait velocity.
Keywords
Gait study; Fault tolerance; Locked joint failure; Positive gait stability;
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Times Cited By KSCI : 1  (Citation Analysis)
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