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http://dx.doi.org/10.5302/J.ICROS.2003.9.11.943

Fault Tolerance in Control of Autonomous Legged Robots  

양정민 (대구가톨릭대학교 전자공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.9, no.11, 2003 , pp. 943-951 More about this Journal
Abstract
A strategy for fault-tolerant gaits of autonomous legged robots is proposed. A legged robot is considered to be fault tolerant with respect to a given failure if it is guaranteed to be capable of walking maintaining its static stability after the occurrence of the failure. 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. If a failed joint is locked, the workspace of the resulting leg is constrained, but legged robots have fault tolerance capability to continue static walking. An algorithm for generating fault-tolerant gaits is described and, especially, periodic gaits are presented for forward walking of a hexapod robot with a locked joint failure. The leg sequence and the formula of the stride length are analytically driven based on gait study and robot kinematics. The transition procedure from a normal gait to the proposed fault-tolerant gait is shown to demonstrate the applicability of the proposed scheme.
Keywords
legged robots; hexapod robots; gait study; fault tolerance; locked joint failure;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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