Fault-tolerant computing for robot kinematics using linear arithmetic codes

This paper presents a strategy for generating fault-tolerant gaits of hexapod walking robots. A multi-legged robot is considered to be fault-tolerant with respect to a given failure if it is capable of continuing its walking after the occurrence of a failure, maintaining its static stability. The failure concerned in this paper is a locked joint failure for which a joint in a leg cannot move and is locked in place. The kinematic condition for the existence of fault-tolerant gaits is derived for straight-line walking of a hexapod robot on even terrain. An algorithm for generating fault-tolerant gaits is described and, especially, periodic gaits are presented for forward walking of a hexapod robot with a locked joint failure. The leg sequence and the stride length formula are analytically driven based on gait study and robot kinematics. A case study on post-failure walking of a hexapod robot with the wave gait is shown to demonstrate the applicability of the proposed method.

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Linear arithmetic code and its application in fault-tolerant systolic array

10.1109/secon.1989.132562 ◽

2003 ◽

Cited By ~ 2

Author(s):

J.-Y. Han ◽

D.C. Krishnan

Keyword(s):

Systolic Array ◽

Fault Tolerant ◽

Linear Arithmetic ◽

Arithmetic Code

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Fault Tolerant Gaits for a Six-Legged Robot With One Locked or Uncontrollable Failure

Volume 5B: 38th Mechanisms and Robotics Conference ◽

10.1115/detc2014-34212 ◽

2014 ◽

Author(s):

Hui Du ◽

Feng Gao ◽

Yang Pan

Keyword(s):

High Speed ◽

Stride Length ◽

Fault Tolerant ◽

Legged Robots ◽

Robot Kinematics ◽

Legged Robot ◽

Long Distance ◽

Gait Study

Multi-legged robots need fault tolerant gaits if one or more legs are broken down and cannot have maintenance when in long-distance operations or hash environments. There are two common faults of robot actuations: locked and uncontrollable failure. In this paper, a novel parallel-parallel six-legged robot as our prototype has good fault tolerant capability to continue walking with a locked or uncontrollable leg. The leg sequence and the formula of the leg/body stride length are driven based on gait study and robot kinematics. Then, a continuous fault tolerant gait is proposed which enables the robot maintain high speed and stability.

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