Fault-tolerant gaits can effectively improve the reliability and prolong the service life of legged robots in unmanned environments. However, few stability-guaranteed fault-tolerant gaits are available for quadruped robots to traverse rough terrains. This paper proposes a fault-tolerant walking and turning gait planning method for quadruped robots with one locked leg on rough terrains. First, a quadruped robot with serial-parallel leg mechanism is introduced and the inverse kinematics is built. Then, the fault-tolerant gait is designed for both walking and turning. The gait trajectory planning method is proposed for both gaits on rough terrains with slopes and steps. Finally, simulations are carried out to visually illustrate and validate the fault-tolerant gaits. The results prove the correctness of the gaits planning.
Fault-Tolerant Walking and Turning Gait Planning for Quadruped Robots with One Locked Leg on Rough Terrains
Lect.Notes Mechanical Engineering
International Conference on Mechanism and Machine Science ; 2022 ; Yantai, China July 30, 2022 - August 01, 2022
Advances in Mechanism, Machine Science and Engineering in China ; Kapitel : 116 ; 1899-1917
2023-06-01
19 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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