Abstract
This paper studies crab gaits and turning gaits of a hexapod robot with a locked joint failure. Due to the reduced workspace of a failed leg, fault-tolerant gaits have limitations in their mobility. Based on the principles of fault-tolerant gait planning, periodic crab gaits and turning gaits are proposed in which a hexapod robot carries out tripod walking after a locked joint failure, having a reasonable stride length and stability margin.
| Original language | English |
|---|---|
| Pages (from-to) | 269-270 |
| Number of pages | 2 |
| Journal | Robotica |
| Volume | 24 |
| Issue number | 2 |
| DOIs | |
| State | Published - Mar 2006 |
Keywords
- Crab gaits
- Gait study
- Hexapod walking robot
- Locked joint failure
- Turning gaits