Fault Tolerant FTL Gaits for Walking over Irregular Terrain

비평탄 지형 보행을 위한 내고장성 FTL 걸음새

  • Yang Jung-Min (Department of Electrical Engineering, Catholic University of Daegu)
  • 양정민 (대구가톨릭대학교 전자공학과)
  • Published : 2006.05.01


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.


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