Title :
Fault tolerant gaits of legged robots for locked joint failures
Author :
Yang, J.-M. ; Ko, D.-I. ; Shim, K.-H. ; Hwang, S.-K.
Author_Institution :
Internet Inf. Appliance Dept., ETRI, Taejon, South Korea
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
Keywords :
fault tolerant computing; gait analysis; legged locomotion; robot kinematics; stability; fault tolerant gaits; legged robots; locked joint failures; quadruped robot; robot kinematics; Actuators; Fault detection; Fault tolerance; Home appliances; Internet; Knee; Leg; Legged locomotion; Robot kinematics; Stability;
Conference_Titel :
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
0-7803-6583-6
DOI :
10.1109/ICSMC.2000.886514
