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

Jung-Min Yang

doi:10.1017/S0263574705002237

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.

Crossref Citations

This article has been cited by the following publications. This list is generated based on data provided by Crossref.

Jianhua, Gao 2006. Design and Kinematic Simulation for Six-DOF Leg Mechanism of Hexapod Robot. p. 625.

Silva, Manuel F. and Machado, J. A. Tenreiro 2008. Kinematic and dynamic performance analysis of artificial legged systems. Robotica, Vol. 26, Issue. 1, p. 19.

Yang, Jung-Min 2009. Fault-Tolerant Gait Planning for a Hexapod Robot Walking over Rough Terrain. Journal of Intelligent and Robotic Systems, Vol. 54, Issue. 4, p. 613.

Carrasco, R. A. Núñez, F. and Cipriano, A. 2011. Fault detection and isolation in cooperative mobile robots using multilayer architecture and dynamic observers. Robotica, Vol. 29, Issue. 4, p. 555.

Abdi, Hamid Nahavandi, Saeid Frayman, Yakov and Maciejewski, Anthony A. 2012. Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators. Robotica, Vol. 30, Issue. 4, p. 635.

Roy, Shibendu Shekhar and Pratihar, Dilip Kumar 2012. Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot. Robotics and Autonomous Systems, Vol. 60, Issue. 1, p. 72.

Yang, Jung-Min and Kwak, Seong-Woo 2012. Fault Tolerant Straight-Line Gaits of a Quadruped Robot with Feet of Flat Shape. Journal of Institute of Control, Robotics and Systems, Vol. 18, Issue. 2, p. 141.

Abdi, Hamid Maciejewski, Anthony A. and Nahavandi, Saeid 2013. Reliability maps for probabilistic guarantees of task motion for robotic manipulators. Advanced Robotics, Vol. 27, Issue. 2, p. 81.

Chen, Xianbao Qi, Chenkun Gao, Feng Tian, Xinghua Zhao, Xianchao and Yu, Hongnian 2014. Fault-tolerant gait a quadruped robot with partially fault legs. p. 509.

Chen, Xianbao Gao, Feng Qi, Chenkun Tian, Xinghua and Wei, Lin 2015. Kinematic analysis and motion planning of a quadruped robot with partially faulty actuators. Mechanism and Machine Theory, Vol. 94, Issue. , p. 64.

Chen, Xianbao Gao, Feng Qi, Chenkun and Tian, Xinghua 2015. Gait planning for a quadruped robot with one faulty actuator. Chinese Journal of Mechanical Engineering, Vol. 28, Issue. 1, p. 11.

Pan, Yang Gao, Feng and Du, Hui 2016. Fault tolerance criteria and walking capability analysis of a novel parallel-parallel hexapod break walking robot. Robotica, Vol. 34, Issue. 3, p. 619.

Du, Xiaolong Wang, Shoukun Zong, Xiaoyan and Wang, Junzheng 2016. Energy consumption analysis in multi-legged robots based on gait planning. p. 6183.

Zhu, Yaguang Guo, Tong Liu, Qiong Zhu, Qianwei Jin, Bo and Zhao, Xiangmo 2017. Turning and Radius Deviation Correction for a Hexapod Walking Robot Based on an Ant-Inspired Sensory Strategy. Sensors, Vol. 17, Issue. 12, p. 2710.

Du, Hui and Gao, Feng 2017. Fault tolerance properties and motion planning of a six-legged robot with multiple faults. Robotica, Vol. 35, Issue. 6, p. 1397.

Mahapatra, Abhijit Roy, Shibendu Shekhar and Pratihar, Dilip Kumar 2020. Multi-body Dynamic Modeling of Multi-legged Robots. p. 11.

Chen, Zhijun Xi, Qingxing Gao, Feng and Zhao, Yue 2022. Fault-tolerant gait design for quadruped robots with one locked leg using the GF set theory. Mechanism and Machine Theory, Vol. 178, Issue. , p. 105069.

Chen, Zhijun Gao, Feng Xi, Qingxing and Zhao, Yue 2023. Advances in Mechanism, Machine Science and Engineering in China. p. 1899.

Majithia, Ashish Shah, Darshita Dave, Jatin Kumar, Ajay Rathee, Sarita Dogra, Namrata H. M., Vishwanatha Chiniwar, Dundesh S. and Hiremath, Shivashankarayya 2024. Design, motions, capabilities, and applications of quadruped robots: a comprehensive review. Frontiers in Mechanical Engineering, Vol. 10, Issue. ,

Zhang, Yan Zhang, Hu Ma, Wei Li, Pan and Fang, Delei 2024. Gait planning and adjustment for a hexapod walking robot with one leg failure. Australian Journal of Mechanical Engineering, p. 1.

Download full list

Article contents

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

Abstract

Keywords

This article has been cited by the following publications. This list is generated based on data provided by Crossref.

Article contents

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

Abstract

Keywords

Save article to Kindle

Save article to Dropbox

Save article to Google Drive

Reply to: Submit a response

Your details

You have entered the maximum number of contributors

Conflicting interests