کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413090 679726 2008 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Two-phase discontinuous gaits for quadruped walking machines with a failed leg
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Two-phase discontinuous gaits for quadruped walking machines with a failed leg
چکیده انگلیسی

A fault-tolerant gait of multi-legged robots with static walking is a gait which can maintain gait stability and continue its walking against an occurrence of a leg failure. This paper proposes two-phase discontinuous gaits as a new fault-tolerant gait for quadruped robots suffering from a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known place. By comparing with previously developed one-phase discontinuous gaits, it is shown that the proposed gait has great advantages in gait performance such as the stride length and terrain adaptability. As an application of the proposed gait, the gait algorithm for ditch crossing and avoidance of quadruped robots with a failed leg is presented and illustrated by simulated figures.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 56, Issue 9, 30 September 2008, Pages 728–737
نویسندگان
,