• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.3 s.309
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• pp.16-24
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• 2006

In this paper, fault-tolerant gait planning of a hexapod robot for walking over irregular terrain is presented. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. Based on the previously proposed fault-tolerant tripod gait for walking over even terrain, fault-tolerant follow-the-leader(FTL) gaits are proposed for a hexapod robot with a failed leg to be able to walk over two-dimensional rough terrain, maintaining static stability and fault tolerance. The proposed FTL gait can have maximum stride length for a given foot position of a failed leg, and yields better ditch crossing ability than the previously developed gaits. The applicability of the proposed FTL gait is verified by using computer graphics simulations.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.9
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• pp.547-555
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• 2005

A fault-tolerant gait of multi-legged robots with static walking is a gait which can maintain gait stability and continue its walking against an occurrence of a leg failure. This paper proposes fault-tolerant gait planning of a quadruped robot walking over a rough planar terrain. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. In this Paper, two-phase discontinuous gaits are presented as a new fault-tolerant gait for quadruped robots suffering from a locked joint failure. By comparing with previously developed one-phase discontinuous gaits, it is shown that the proposed gait has great advantages in gait performance such as the stride length and terrain adaptability. Based on the two-phase discontinuous gait, quasi follow-the-leader(FTL) gaits are constructed which enable a quadruped robot to traverse two-dimensional rough terrain after an occurrence of a locked joint failure. During walking, two front legs undergo the foot adjustment procedure for avoiding stepping on forbidden areas. The Proposed wait planning is verified by using computer graphics simulations.