Fault tolerant gaits of legged robots for locked joint failures

J. M. Yang; D. I. Ko; K. H. Shim; S. K. Hwang

doi:10.1109/ICSMC.2000.886514

Fault tolerant gaits of legged robots for locked joint failures

J. M. Yang, D. I. Ko, K. H. Shim, S. K. Hwang

School of Electronics Engineering

Electronics and Telecommunications Research Institute

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

In this paper, fault detection and tolerance in static walking of legged robots are addressed. A kind of fault events, locked joint failure, is defined and its properties are investigated in the frame of gait study and robot kinematics. For the purpose of tolerating a locked joint failure, an algorithm of fault tolerant gaits for a quadruped robot is proposed in which the robot can continue its walking after a locked failure occurs to a joint of a leg. A case study on applying the proposed scheme to wave gaits verifies its applicability and capability.

Original language	English
Pages (from-to)	3300-3305
Number of pages	6
Journal	Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume	5
DOIs	https://doi.org/10.1109/ICSMC.2000.886514
State	Published - 2000

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abstract = "In this paper, fault detection and tolerance in static walking of legged robots are addressed. A kind of fault events, locked joint failure, is defined and its properties are investigated in the frame of gait study and robot kinematics. For the purpose of tolerating a locked joint failure, an algorithm of fault tolerant gaits for a quadruped robot is proposed in which the robot can continue its walking after a locked failure occurs to a joint of a leg. A case study on applying the proposed scheme to wave gaits verifies its applicability and capability.",

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AB - In this paper, fault detection and tolerance in static walking of legged robots are addressed. A kind of fault events, locked joint failure, is defined and its properties are investigated in the frame of gait study and robot kinematics. For the purpose of tolerating a locked joint failure, an algorithm of fault tolerant gaits for a quadruped robot is proposed in which the robot can continue its walking after a locked failure occurs to a joint of a leg. A case study on applying the proposed scheme to wave gaits verifies its applicability and capability.

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ER -

Fault tolerant gaits of legged robots for locked joint failures

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