An analytical approach for gait study and its applications on wave gaits
International Journal of Robotics Research
Robotic Workspaces after a Free-Swinging Failure
Journal of Intelligent and Robotic Systems
Development of a Tracked Climbing Robot
Journal of Intelligent and Robotic Systems
Kinematic Constraints on Fault-Tolerant Gaits for a Locked Joint Failure
Journal of Intelligent and Robotic Systems
Generating continuous free crab gaits for quadruped robots on irregular terrain
IEEE Transactions on Robotics
Modeling gait transitions of quadrupeds and their generalization with CMAC neural networks
IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews
Fault-tolerant locomotion of the hexapod robot
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Comparison between different model of hexapod robot in fault-tolerant gait
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
A bionic gait programming algorithm for hexapod robot
Proceedings of the 2nd International Conference on Interaction Sciences: Information Technology, Culture and Human
A biologically inspired approach to feasible gait learning for a hexapod robot
International Journal of Applied Mathematics and Computer Science - Computational Intelligence in Modern Control Systems
Which is Better?: A Natural or an Artificial Surefooted Gait for Hexapods
International Journal of Intelligent Mechatronics and Robotics
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Multi-legged robots need fault-tolerant gaits if one of attached legs suffers from a failure and cannot have normal operation. Moreover, when the robots with a failed leg are walking over rough terrain, fault-tolerance should be combined with adaptive gait planning for successful locomotion. In this paper, a strategy of fault-tolerant gaits is proposed which enables a hexapod robot with a locked joint failure to traverse two-dimensional rough terrain. This strategy applies a Follow-The-Leader (FTL) gait in post-failure walking, having the advantages of both fault-tolerance and terrain adaptability. The proposed FTL gait can produce the maximum stride length for a given foot position of a failed leg and better ditch-crossing ability than the previous fault-tolerant gaits. The applicability of the proposed FTL gait is verified using computer graphics simulations.