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A fault tolerant gait for a hexapod robot over uneven terrain

โœ Scribed by Jung-Ming Yang; Jong-Hwan Kim


Book ID
117874569
Publisher
IEEE
Year
2000
Tongue
English
Weight
894 KB
Volume
30
Category
Article
ISSN
1083-4419

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Tripod gaits for fault tolerance of hexa
โœ Jung-Min Yang ๐Ÿ“‚ Article ๐Ÿ“… 2005 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 182 KB

Fault tolerance is an important design criterion for robotic systems operating in hazardous or remote environments. This paper addresses the issue of tolerating a locked joint failure in gait planning for hexapod walking machines which have symmetric structures and legs in the form of an articulated