Fault-tolerant locomotion of the hexapod robot

Author

Yang, Jung-Min ; Kim, Jong-Hwan

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

Volume

28

Issue

1

fYear

1998

fDate

2/1/1998 12:00:00 AM

Firstpage

109

Lastpage

116

Abstract

In this paper, we propose a scheme for fault detection and tolerance of the hexapod robot locomotion on even terrain. The fault stability margin is defined to represent potential stability which a gait can have in case a sudden fault event occurs to one leg. Based on this, the fault-tolerant quadruped periodic gaits of the hexapod walking over perfectly even terrain are derived. It is demonstrated that the derived quadruped gait is the optimal one the hexapod can have maintaining fault stability margin nonnegative and a geometric condition should be satisfied for the optimal locomotion. By this scheme, when one leg is in failure, the hexapod robot has the modified tripod gait to continue the optimal locomotion

Keywords

fault tolerant computing; robot dynamics; stability; fault detection; fault stability margin; fault-tolerant locomotion; fault-tolerant quadruped periodic gaits; hexapod robot; quadruped gait; Decision making; Fault tolerance; Fuzzy logic; Fuzzy sets; Leg; Legged locomotion; Mobile robots; Pattern recognition; Stability; Vehicles;

fLanguage

English

Journal_Title

Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

1083-4419

Type

jour

DOI

10.1109/3477.658585

Filename

658585