Fault-tolerant crab gaits and turning gaits for a hexapod robot

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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 languageEnglish
Pages (from-to)269-270
Number of pages2
JournalRobotica
Volume24
Issue number2
DOIs
StatePublished - Mar 2006

Keywords

  • Crab gaits
  • Gait study
  • Hexapod walking robot
  • Locked joint failure
  • Turning gaits

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