Abstract
This paper address the issue of tolerating a locked joint failure in gait planning for hexapod robots which have symmetric structures and legs in the form of an articulated arm with three revolute joints. A locked joint failure is one for which a joint cannot move and is locked in place. If a failed joint is locked, the workspace of the resulting leg is constrained, but hexapod walking machines have the ability to continue static walking. A strategy of fault tolerant tripod gait is proposed. In particular, a periodic gait is proposed as a special form of the proposed algorithm and its existence and efficiency are analytically proven. A case study on applying the proposed scheme to the standard tripod gait verifies its applicability and capability.
| Original language | English |
|---|---|
| Pages (from-to) | 2237-2242 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE International Conference on Systems, Man and Cybernetics |
| Volume | 3 |
| State | Published - 2003 |
| Event | System Security and Assurance - Washington, DC, United States Duration: 5 Oct 2003 → 8 Oct 2003 |
Keywords
- Fault tolerance
- Gait study
- Hexapod robots
- Locked joint failures
- Multiple failures
- Robotics