Fault-tolerant gait a quadruped robot with partially fault legs

Abstract

Legged robots have greater capability to traverse irregular terrains. However, one of the most common problems is the failure of the actuators when the robot is working in remote. Fault-tolerant gait about one fault actuator can be found. This paper proposes another algorithm for more than one fault actuators. The degree-of-freedoms (DOFs) of the robot body are divided into two parts: the major DOFs, which are critical in performing a gait; and secondary DOFs. The idea of the method is to find a proper kinematic resolution to perform major DOFs by controlling the secondary DOF of the robot. Simulations and experiments are presented here on a hydraulic quadruped robot.

Fault-tolerant motion planning and generation of quadruped robots synthesised by posture optimization and whole body control

“…To still use the fault leg in planning and control for locomotion, Chen et al proposed to ensure the quadruped robot's displacement and get a kinematics solution of attitude to utilize the fault leg's workspace without changing the gait pattern [5]. The concept of this fault-tolerant method is that the body posture can adapt to the workspace of the fault leg.…”

Dynamic stability analyzes for a parallel–serial legged quadruped robot

“…They are designed to meet the needs of complex work in unstructured environment, such as storage tanks for petroleum industries and nuclear power plants. 24,25…”