Fault-Tolerant Gait Planning of Multi-Legged Robots

Yang, Jung–Min; Park, Yong-Kuk; Kim, Jin-Gon

doi:10.5772/4739

Cited by 3 publications

(2 citation statements)

References 15 publications

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“…A locked joint failure reduces the number of degrees of freedom of the leg by one and affects the mobility of the robot [3]. Many studies can be found about the locked joint failure for hexapod robots such as the gaits for straight line walking and turning [4,5], the gaits for obstacle avoidance [6] and for uneven terrains [7] and so on.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant gait a quadruped robot with partially fault legs

Chen

Gao

et al. 2014

2014 UKACC International Conference on Control (CONTROL)

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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.

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Section: Introductionmentioning

confidence: 99%

Fault-tolerant gait a quadruped robot with partially fault legs

Chen

Gao

et al. 2014

2014 UKACC International Conference on Control (CONTROL)

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“…Fault recovery is a process to make the system recover from a fault. Fault-tolerant gait planning is the recovery method used with multi-legged robots after a failure has occurred and hampers its ability to walk or maintain stability [5]. According to the study in the literature, we can categorize recovery methods for damaged multi-legged robots into four main groups, namely, evolutionary-assist method, gait transition method, task-based method, and learning method [6].…”

Section: Introductionmentioning

confidence: 99%

Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs

et al. 2019

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In this study, the authors focus on the structural design of and recovery methods for a damaged quadruped robot with a limited number of functional legs. Because the pre-designed controller cannot be executed when the robot is damaged, a control strategy to avoid task failures in such a scenario should be developed. Not only the control method but also the shape and structure of the robot itself are significant for the robot to be able to move again after damage. We present a caterpillar-inspired quadruped robot (CIQR) and a self-learning mudskipper inspired crawling (SLMIC) algorithm in this research. The CIQR is realized by imitating the prolegs of caterpillars and by using a numerical optimization technique. A reinforcement learning method called Q-learning is employed to improve the adaptability of locomotion based on the crawling behavior of mudskipper. The results show that the proposed robotic platform and recovery method can improve the moving ability of the damaged quadruped robot with a few active legs in both simulations and experiments. Moreover, we obtained satisfactory results showing that a damaged multi-legged robot with at least one leg could travel properly along the required direction. Furthermore, the presented algorithm can successfully be employed in a damaged quadruped robot with fewer than four legs.

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Design, motions, capabilities, and applications of quadruped robots: a comprehensive review

Majithia,

Shah,

Dave

et al. 2024

Front. Mech. Eng.

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Robots are becoming integral to society and industries due to their enormous advantages. Among the various categories of mobile robots, including wheeled robot, tracked robot, and legged robots, the latter stands out as a better choice for most field applications due to their adaptability across various terrains. The purpose of this review is to study the locomotion capabilities of quadruped robots and judge their suitability for climbing applications as most unexplored applications of automation and robotics are required to climb. This review explores the locomotion capabilities of quadruped robots. It covers different aspects of quadruped robots like types of legs, leg design, gait patterns, and their mathematical formulations, and types of motions like omnidirectional motion and body sway motion. It also emphasizes its fault-tolerant gait, adaptability, and reliability. The paper also focuses on slope and stair climbing, outlining design requirements and applications. The study includes an examination of the applicability of various gaits under different conditions and the methods for increasing stability without compromising speed. Overall, the review serves as a valuable resource for future research in this field.

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Fault-Tolerant Gait Planning of Multi-Legged Robots

Cited by 3 publications

References 15 publications

Fault-tolerant gait a quadruped robot with partially fault legs

Fault-tolerant gait a quadruped robot with partially fault legs

Bio-Inspired Structure and Behavior of Self-Recovery Quadruped Robot with a Limited Number of Functional Legs

Design, motions, capabilities, and applications of quadruped robots: a comprehensive review

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