TY - GEN
T1 - Effects of foot shape on fault tolerant gaits of a quadruped robot
AU - Kwak, Seong Woo
AU - Yang, Jung Min
PY - 2012
Y1 - 2012
N2 - Fault tolerant gaits make legged robots maintain gait stability and continue static walking in spite of occurrences of a leg failure. In this paper, we investigate the effect of foot shape on the performance of fault tolerant gaits. All the former studies assume that a legged robot has feet that have point contact with the surface. But, as the development of the walking robot technology has advanced, two dimensional feet shapes are being widely used in static as well as dynamic walking. We show that a legged robotwith feet of plate shape shows superior fault tolerant walking over those with point feet, especially in terms of the stride length. In particular, fault tolerant gaits for a quadruped robot against a locked joint failure are analyzed in detail with respect to different foot shapes.
AB - Fault tolerant gaits make legged robots maintain gait stability and continue static walking in spite of occurrences of a leg failure. In this paper, we investigate the effect of foot shape on the performance of fault tolerant gaits. All the former studies assume that a legged robot has feet that have point contact with the surface. But, as the development of the walking robot technology has advanced, two dimensional feet shapes are being widely used in static as well as dynamic walking. We show that a legged robotwith feet of plate shape shows superior fault tolerant walking over those with point feet, especially in terms of the stride length. In particular, fault tolerant gaits for a quadruped robot against a locked joint failure are analyzed in detail with respect to different foot shapes.
KW - Fault tolerant gaits
KW - Locked joint failures
KW - Plate feet
KW - Quadruped robots
KW - Stride length
UR - http://www.scopus.com/inward/record.url?scp=84861939733&partnerID=8YFLogxK
U2 - 10.2316/P.2012.769-041
DO - 10.2316/P.2012.769-041
M3 - Conference contribution
AN - SCOPUS:84861939733
SN - 9780889869110
T3 - Proceedings of the 2nd IASTED Asian Conference on Modelling, Identification, and Control, AsiaMIC 2012
SP - 209
EP - 214
BT - Proceedings of the 2nd IASTED Asian Conference on Modelling, Identifiaction, and Control, AsiaMIC 2012
T2 - IASTED Asian Conference on Modelling, Identification, and Control, AsiaMIC 2012
Y2 - 2 April 2012 through 4 April 2012
ER -