A Gait Generation for an Unlocked Joint Failure of the Quadruped Robot with Balance Weight

Fault-tolerant control of a compliant legged quadruped robot for free swinging failure

“…So, without the need of any extra balance weight and control mechanism of balance weight, this work shows successful locomotion after failure. Also, the body-tilt about X - and Y -axes during post-failure locomotion are considerably high in Cho et al 13 due to movement of balance weight, whereas in our case, they are quite low as is evident from Figure 11.…”

“…The only previous work on free swinging failure in the leg of a quadruped robot is reported in Cho et al 13 This work can be compared with that presented in Cho et al 13 where the post-failure locomotion was planned by ignoring the entire failed leg and a dynamically positioned balance weight was used to control the moments and secure the stability during walking. In contrast, the post-failure locomotion in this work uses the healthy upper link of the failed leg when the failure is in the lower link.…”

“…In the context of future research, if single fault situation is addressed, then a combination of the approach in Cho et al 13 and the one presented here through inclusion of appropriate redundant hardware can be helpful to recover from free swinging failure at any one joint of a leg. Likewise, locked joint failure recovery strategies can be integrated with free swinging joint failure recovery strategies to design a sufficiently robust fault-tolerant quadruped robot.…”

“…Patarinsky-Robson et al 12 presented a reconfiguration concept in which they repositioned the base at the time of joint failure for a robot arm mounted on a mobile platform. Only Cho et al 13 have addressed free swinging joint failure of a quadruped robot. They have shown the use of moment of inertia control through a balance weight to assure the stability margin after free swinging failure for a quadruped robot and proposed the reduction of impact during landing and optimization of the control method for a gait generation after the failure as possible areas of future work.…”