Title :
A fault tolerant gait for a hexapod robot over uneven terrain
Author :
Yang, Jung-Min ; Kim, Jong-Hwan
Author_Institution :
Multimedia Dept., Electron. & Telecommun. Res. Inst., Daejeon, South Korea
fDate :
2/1/2000 12:00:00 AM
Abstract :
The fault tolerant gait of legged robots in static walking is a gait which maintains its stability against a fault event preventing a leg from having the support state. In this paper, a fault tolerant quadruped gait is proposed for a hexapod traversing uneven terrain with forbidden regions, which do not offer viable footholds but can be stepped over. By comparing performance of straight-line motion and crab walking over even terrain, it is shown that the proposed gait has better mobility and terrain adaptability than previously developed gaits. Based on the proposed gait, we present a method for the generation of the fault tolerant locomotion of a hexapod over uneven terrain with forbidden regions. The proposed method minimizes the number of legs on the ground during walking, and foot adjustment algorithm is used for avoiding steps on forbidden regions. The effectiveness of the proposed strategy over uneven terrain is demonstrated with a computer simulation
Keywords :
fault tolerant computing; gait analysis; legged locomotion; neural nets; computer simulation; crab walking; fault tolerant gait; fault tolerant locomotion; hexapod robot; legged robots; static walking; straight-line motion; terrain adaptability; uneven terrain; Computer simulation; Fault tolerance; Foot; Leg; Legged locomotion; Mobile robots; Robot sensing systems; Robust control; Robust stability; Robustness;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/3477.826957