@inproceedings{9dc9d13006ad43d0860e812e2ddee6ca,
title = "Fault Tolerant Gait Planning for a Hexapod Robot with Multiple Locked Joint Failures",
abstract = "Fault tolerance in walking of a hexapod robot is addressed in this paper. The considered failure is a locked joint failure, 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 legged robots have fault tolerance capability to continue walking maintaining static stability. In the previous results [1], a strategy for fault tolerant gaits was proposed and a periodic gait was derived for forward walking of a quadruped robot. In this paper, we focus on planning fault tolerant gaits for a hexapod robot. Since a hexapod robot has two more legs than a quadruped robot, it has the advantage in fault tolerance capability; especially it can tolerate simultaneous failures at two legs. 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 gait is shown to demonstrate the applicability of the proposed scheme.",
keywords = "Fault tolerance, Gait study, Hexapod robots, Locked joint failures, Multiple failures",
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 = "44--45",
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",
}