Fault accommodation in compliant quadruped robot through a moving appendage mechanism

M. M. Gor; P. M. Pathak; A. K. Samantaray; J. M. Yang; S. W. Kwak

doi:10.1016/j.mechmachtheory.2017.10.011

Fault accommodation in compliant quadruped robot through a moving appendage mechanism

M. M. Gor, P. M. Pathak, A. K. Samantaray, J. M. Yang, S. W. Kwak

School of Electronics Engineering

Research output: Contribution to journal › Article › peer-review

28 Scopus citations

Abstract

Quadruped robots provide better stability and speed in comparison to other legged robots. However, its joint actuator or sensor failure severely affects locomotion. Strategies for actuator and sensor fault accommodation in a compliant legged quadruped are presented here. A pair of orthogonally mounted moving appendages mechanism is proposed here to accommodate locked joint failure. These appendages as rack mounted inertias perform controlled motion during actuator failure. A strategy for sensor fault accommodation is also presented. A three-dimensional multi-body dynamics model of quadruped robot and its fault accommodation strategies are developed using bond graph modeling approach. The control performance is validated both through simulations and experiments.

Original language	English
Pages (from-to)	228-244
Number of pages	17
Journal	Mechanism and Machine Theory
Volume	121
DOIs	https://doi.org/10.1016/j.mechmachtheory.2017.10.011
State	Published - Mar 2018

Keywords

Bond graph model
Fault accommodation
Moving appendages mechanism
Quadruped robot

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10.1016/j.mechmachtheory.2017.10.011

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title = "Fault accommodation in compliant quadruped robot through a moving appendage mechanism",

abstract = "Quadruped robots provide better stability and speed in comparison to other legged robots. However, its joint actuator or sensor failure severely affects locomotion. Strategies for actuator and sensor fault accommodation in a compliant legged quadruped are presented here. A pair of orthogonally mounted moving appendages mechanism is proposed here to accommodate locked joint failure. These appendages as rack mounted inertias perform controlled motion during actuator failure. A strategy for sensor fault accommodation is also presented. A three-dimensional multi-body dynamics model of quadruped robot and its fault accommodation strategies are developed using bond graph modeling approach. The control performance is validated both through simulations and experiments.",

keywords = "Bond graph model, Fault accommodation, Moving appendages mechanism, Quadruped robot",

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AU - Gor, M. M.

AU - Pathak, P. M.

AU - Samantaray, A. K.

AU - Yang, J. M.

AU - Kwak, S. W.

PY - 2018/3

Y1 - 2018/3

N2 - Quadruped robots provide better stability and speed in comparison to other legged robots. However, its joint actuator or sensor failure severely affects locomotion. Strategies for actuator and sensor fault accommodation in a compliant legged quadruped are presented here. A pair of orthogonally mounted moving appendages mechanism is proposed here to accommodate locked joint failure. These appendages as rack mounted inertias perform controlled motion during actuator failure. A strategy for sensor fault accommodation is also presented. A three-dimensional multi-body dynamics model of quadruped robot and its fault accommodation strategies are developed using bond graph modeling approach. The control performance is validated both through simulations and experiments.

AB - Quadruped robots provide better stability and speed in comparison to other legged robots. However, its joint actuator or sensor failure severely affects locomotion. Strategies for actuator and sensor fault accommodation in a compliant legged quadruped are presented here. A pair of orthogonally mounted moving appendages mechanism is proposed here to accommodate locked joint failure. These appendages as rack mounted inertias perform controlled motion during actuator failure. A strategy for sensor fault accommodation is also presented. A three-dimensional multi-body dynamics model of quadruped robot and its fault accommodation strategies are developed using bond graph modeling approach. The control performance is validated both through simulations and experiments.

KW - Bond graph model

KW - Fault accommodation

KW - Moving appendages mechanism

KW - Quadruped robot

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SN - 0094-114X

VL - 121

SP - 228

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JO - Mechanism and Machine Theory

JF - Mechanism and Machine Theory

ER -

Fault accommodation in compliant quadruped robot through a moving appendage mechanism

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Keywords

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