Fault-tolerant motion planning and generation of quadruped robots synthesised by posture optimization and whole body control
نویسندگان
چکیده
Abstract Quadruped robots are likely to fall into the fault joint state in outdoor explorations. The unexpected lock may suddenly happen when quadruped implementing normal gaits, and maintaining primal movement patterns finish targeted tasks could be disastrous. In this paper, a fault-tolerant motion planning generation method for with is proposed. Fault-tolerant cases on three types of joints legs investigated, equivalent geometric models proposed reconstruct kinematics. To make unnecessary deformation gait as small possible, body posture standing height optimized based nonlinear geometry constraints. applicable constructing quasi-static whole-body controller, it does not require additional operations constraints leg. validate consistency stability method, experiments implemented failure scenarios robots.
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ژورنال
عنوان ژورنال: Complex & Intelligent Systems
سال: 2022
ISSN: ['2198-6053', '2199-4536']
DOI: https://doi.org/10.1007/s40747-022-00652-6