Fault-tolerant crab gaits and turning gaits for a hexapod robot

Authors:
Jung-Min Yang
Affiliations:
Department of Electrical Engineering, College of Engineering, Catholic University of Daegu, Hayang, Kyongsan, Kyongbuk, 712-702, South Korea. E-mail: jmyang@cu.ac.kr
Venue:
Robotica
Year:
2006

Citing 2
Cited 4

Kinematic and dynamic performance analysis of artificial legged systems

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Fault-Tolerant Gait Planning for a Hexapod Robot Walking over Rough Terrain

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Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot

Robotics and Autonomous Systems
Fault detection and isolation in cooperative mobile robots using multilayer architecture and dynamic observers

Robotica

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Abstract

This paper studies crab gaits and turning gaits of a hexapod robot with a locked joint failure. Due to the reduced workspace of a failed leg, fault-tolerant gaits have limitations in their mobility. Based on the principles of fault-tolerant gait planning, periodic crab gaits and turning gaits are proposed in which a hexapod robot carries out tripod walking after a locked joint failure, having a reasonable stride length and stability margin.