Kinematic analysis and motion planning of a quadruped robot with partially faulty actuators
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- 作者：Xianbao Chena ; Feng Gaoa ; fengg@sjtu.edu.cn" class="auth_mail" title="E-mail the corresponding author ; Chenkun Qia ; Xinghua Tiana ; Lin Weib
- 关键词：Quadruped Robot ; Fault-tolerant Gait ; Redundancy ; Repeatable Control
- 刊名：Mechanism and Machine Theory
- 出版年：2015
- 出版时间：December 2015
- 年：2015
- 卷：94
- 期：Complete
- 页码：64-79
- 全文大小：2741 K
文摘
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The hydraulic robot are introduced and the kinematic model is built.
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Constraints of faulty actuators on the robot are discussed using the Screw Theory.
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The fault-tolerant motion planning method is explained.
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The repeatable control problem is solved.
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The effects of the fault-tolerant gait are proved by simulations and experiments.
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