Hostname: page-component-5c6d5d7d68-wbk2r Total loading time: 0 Render date: 2024-08-19T06:34:26.894Z Has data issue: false hasContentIssue false
  • English
  • Français

Fault-tolerant crab gaits and turning gaits for a hexapod robot

Published online by Cambridge University Press:  31 October 2005

Jung-Min Yang
Jung-Min Yang
Affiliation:
Department of Electrical Engineering, College of Engineering, Catholic University of Daegu, Hayang, Kyongsan, Kyongbuk, 712-702, South Korea. E-mail: jmyang@cu.ac.kr
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper studies crab gaits and turning gaits of a hexapod robot with a locked joint failure. Due to the reduced workspace of a failed leg, fault-tolerant gaits have limitations in their mobility. Based on the principles of fault-tolerant gait planning, periodic crab gaits and turning gaits are proposed in which a hexapod robot carries out tripod walking after a locked joint failure, having a reasonable stride length and stability margin.

Keywords

Hexapod walking robotGait studyLocked joint failureCrab gaitsTurning gaits
Type
Article
Information
Robotica , Volume 24 , Issue 2 , March 2006 , pp. 269 - 270
Copyright
2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)