Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Fault Tolerant Straight-Line Gaits of a Quadruped Robot with Feet of Flat Shape

평판 발을 가지는 사족 보행 로봇의 내고장성 걸음새

  • 양정민 (대구가톨릭대학교 전자공학과) ;
  • 곽성우 (계명대학교 전자공학과)
  • Received : 2011.11.15
  • Accepted : 2011.12.20
  • Published : 2012.02.01
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Abstract

This paper proposes fault tolerant gaits of a quadruped robot with feet of flat shape. Fault tolerant gaits make it possible for a legged robot to continue static walking against a leg failure. In the previous researches, it was assumed that a legged robot had feet that have point contact with the surface. When the robot is endowed with feet having flat shape, fault tolerant gaits can show better performance compared with the former gaits, especially in terms of the stride length and gait stability. In this paper, fault tolerant gaits of a quadruped robot against a locked joint failure are addressed in straight-line motion and crab walking, respectively.

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References

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