@inproceedings{3085697135be472d96bcce0b985f1e1c,
title = "Fault Tolerance in Crab Walking of Quadruped Robots",
abstract = "In this paper, an algorithm for tolerating a locked joint failure is described in gait planning for a quadruped robot with crab walking. A locked joint failure is one for which a joint cannot move and is locked in place [1]. If a failed joint is locked, the workspace of the resulting leg is constrained, but legged robots have fault tolerance capability to continue walking maintaining static stability. A strategy for fault tolerant gaits is described and, especially, a periodic gait is presented for crab walking of a quadruped robot. The leg sequence and the formula of the stride length are analytically driven based on gait study and robot kinematics. The adjustment procedure from a normal gait to the proposed fault tolerant crab gait is shown to demonstrate the applicability of the proposed scheme.",
keywords = "Crab walking, Fault tolerance, Gait study, Locked joint failures, Quadruped robots",
author = "Yang, {Jung Min} and Shim, {Kwang Hyun}",
year = "2003",
language = "English",
isbn = "1932415114",
series = "Proceedings of the International Conference on Machine Learning; Models, Technologies and Applications",
pages = "35--36",
editor = "H.R. Arabnia and E.B. Kozerenko",
booktitle = "Proceedings of the International Conference on Machine Learning; Models, Technologies and Applications, MLMTA 03",
note = "Proceedings of the International Conference on Machine Learning; Models, Technologies and Applications, MLMTA'03 ; Conference date: 23-06-2003 Through 26-06-2003",
}