Tripod gaits for fault tolerance of hexapod walking machines with a locked joint failure
✍ Scribed by Jung-Min Yang
- Publisher
- Elsevier Science
- Year
- 2005
- Tongue
- English
- Weight
- 182 KB
- Volume
- 52
- Category
- Article
- ISSN
- 0921-8890
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✦ Synopsis
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 arm with three revolute joints. A locked joint failure is one for which a joint cannot move and is locked in place. If a failed joint is locked, the workspace of the resulting leg is constrained, but hexapod walking machines have the ability to continue static walking. A strategy of fault tolerant tripod gait is proposed and, as a specific form, a periodic gait is presented in which hexapod walking machines have the maximum stride length after a locked failure. The adjustment procedure from a normal gait to the proposed fault tolerant gait is shown to demonstrate the applicability of the proposed scheme.