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

Published online by Cambridge University Press:  31 October 2005

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

Keywords

Hexapod walking robotGait studyLocked joint failureCrab gaitsTurning gaits
Type
Article
Information
Robotica , Volume 24 , Issue 2 , March 2006 , pp. 269 - 270
Copyright
2005 Cambridge University Press

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