A strategy of optimal fault tolerant gait for the hexapod robot in crab walking

Jung Min Yang, Jong Hwan Kim

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

18 Scopus citations

Abstract

Proposes a gait sequence for fault tolerant locomotion of the hexapod robot with crab walking on even terrain. With the proposed sequence, the hexapod can tolerate a fault in one leg which makes the leg unable to have support state until the end of the locomotion so that it does not fall down and continues the locomotion. The proposed sequence is optimal in the sense that the hexapod has the maximum stride length in one cycle with a specified initial foothold positions of legs. It is shown that the derived sequence for crab walking has different orders of leg swing according to the relative values of the crab angle and some design parameters of the robot.

Original languageEnglish
Title of host publicationProceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1695-1700
Number of pages6
ISBN (Print)078034300X
DOIs
StatePublished - 1998
Event15th IEEE International Conference on Robotics and Automation, ICRA 1998 - Leuven, Belgium
Duration: 16 May 199820 May 1998

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Conference

Conference15th IEEE International Conference on Robotics and Automation, ICRA 1998
Country/TerritoryBelgium
CityLeuven
Period16/05/9820/05/98

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