Hostname: page-component-cb9f654ff-mx8w7 Total loading time: 0 Render date: 2025-09-03T07:34:34.656Z 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
Rights & Permissions [Opens in a new window]

Abstract

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the ‘Save PDF’ action button.

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

Information

Type
Article
Information
Robotica , Volume 24 , Issue 2 , March 2006 , pp. 269 - 270
Copyright
2005 Cambridge University Press