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Fault-Tolerant Gait Planning of Multi-Legged Robots

出版	INTECH Open Access Publisher, 2006
主題	Technology & Engineering / Automation
ISBN	386611284X9783866112841
URL	http://books.google.com.hk/books?id=DmLmoAEACAAJ&hl=&source=gbs_api

註釋In this article, gait planning for static walking of hexapod robots has been considered from a different point of view. The notion of a locked joint failure is introduced and its effect on robot walking is analyzed based on manipulator kinematics and gait study. A locked joint failure does not reduce stability of a gait but constrain the workspace of the failed leg to a restricted area. We have shown that there is a range of kinematic constraint on the configuration of the failed leg which guarantees the existence of post-failure walking on the straight-line and crab-walking trajectory, respectively. A strategy of fault tolerance for a locked joint failure has been proposed for the hexapod robot, in which the hexapod has discontinuous movement of the body with respect to leg swing and the failed leg is swung passively by the translation of the body. As a special form of the proposed strategy, periodic quadruped and tripod gaits have been proposed for straight-line motion and crab walking, respectively, and their behavior and efficiency have been investigated. By taking the proposed periodic gait, the hexapod can overcome any fault event caused by a locked joint failure and maintain static stability. The transition procedure from the standard wave gait to the proposed periodic gait has been shown as an example to demonstrate the applicability of the proposed scheme. As further researches, there are fault-tolerant gait planning for irregular gaits on uneven terrain and fault-tolerant gaits considering dynamic effects.