Three-legged walking for fault tolerant locomotion of a quadruped robot with demining mission

Yun Jung Lee, Shigeo Hirose

Research output: Contribution to journalArticlepeer-review

18 Scopus citations

Abstract

In the demining application area of a multi-legged robot, it is one of the important problems to develop a gait with one or more legs missing. This paper presents a three-legged gait under the assumption that one leg of a quadruped walking robot is missing. We propose a classification scheme of postures for three-legged walking. As one of the basic and reasonable gaits for three-legged walking, the kick-and-swing gait is proposed and analyzed using a simple dynamic model. The minimum energy gait planning and an active shock-absorbing method are investigated. The validity of the proposed gait is shown by experiments using a quadruped walking robot TITAN VIII.

Original languageEnglish
Pages (from-to)973-978
Number of pages6
JournalIEEE International Conference on Intelligent Robots and Systems
Volume2
DOIs
StatePublished - 2000

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