Effect of Leg Design on Locomotion Stability for Quadruped Robot
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چکیده
منابع مشابه
Fault-Tolerant Locomotion of the Hexapod Robot - Systems, Man and Cybernetics, Part B, IEEE Transactions on
In this paper, we propose a scheme for fault detection and tolerance of the hexapod robot locomotion on even terrain. The fault stability margin is defined to represent potential stability which a gait can have in case a sudden fault event occurs to one leg. Based on this, the fault-tolerant quadruped periodic gaits of the hexapod walking over perfectly even terrain are derived. It is demonstra...
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