By Topic

Fault tolerant gaits of legged robots for locked joint failures

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Yang, J.-M. ; Internet Inf. Appliance Dept., ETRI, Taejon, South Korea ; Ko, D.-I. ; Shim, K.-H. ; Hwang, S.-K.

In this paper, fault detection and tolerance in static walking of legged robots are addressed. A kind of fault events, locked joint failure, is defined and its properties are investigated in the frame of gait study and robot kinematics. For the purpose of tolerating a locked joint failure, an algorithm of fault tolerant gaits for a quadruped robot is proposed in which the robot can continue its walking after a locked failure occurs to a joint of a leg. A case study on applying the proposed scheme to wave gaits verifies its applicability and capability

Published in:

Systems, Man, and Cybernetics, 2000 IEEE International Conference on  (Volume:5 )

Date of Conference: