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Fault tolerant gaits of legged robots for locked joint failures

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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:

2000