Hostname: page-component-586b7cd67f-t7fkt Total loading time: 0 Render date: 2024-11-24T00:41:23.977Z Has data issue: false hasContentIssue false
  • English
  • Français

Fault tolerance criteria and walking capability analysis of a novel parallel-parallel hexapod break walking robot

Published online by Cambridge University Press:  09 July 2014

Yang Pan ,
Feng Gao  and
Hui Du
Yang Pan*
Affiliation:
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200030, China
Feng Gao
Affiliation:
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200030, China
Hui Du
Affiliation:
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200030, China
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

Fault tolerance is a very important issue for legged robots, especially in some harsh environments. One of the most fragile parts is the actuation system. There are two common faults of robot actuators: (1) the motor is locked and could not move anymore; (2) the motor is uncontrollable and can be treated as a passive joint. In this paper, we first discuss all fault combinations of a single leg of a hexapod walking robot with parallel-parallel mechanism topology. Then, the leg tolerable criterion is brought out, which defines whether a leg is fault tolerant. After that, the fault tolerance of the whole robot is researched, and we found that the robot can walk with one tolerable leg or two opposite tolerable legs. Finally, relative simulation results are given, which show the robot walk with one or two broken legs.

Keywords

Hexapod robotFault toleranceLocked failureUncontrollable failure
Type
Articles
Information
Robotica , Volume 34 , Issue 3 , March 2016 , pp. 619 - 633
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Görner, M., Wimböck, T. and Hirzinger, G., “The DLR crawler: Evaluation of gaits and control of an actively compliant six-legged walking robot,” Ind. Robot: Int. J. 36 (4), 344–351 (2009).CrossRefGoogle Scholar
2.Schneider, A., et al., “HECTOR, A New Hexapod Robot Platform with Increased Mobility-Control Approach, Design and Communication,” In: Advances in Autonomous Mini Robots (Springer, 2012) pp. 249–264.CrossRefGoogle Scholar
3.Georgiades, C., et al., “AQUA: An Aquatic Walking Robot,” Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems 2004 (IROS 2004), Sendai, Japan (Sep. 28–Oct. 2, 2004) pp. 3525–3531.Google Scholar
4.De Santos, P. G., et al., “SIL06: A Six-Legged Robot for Humanitarian De-Mining Tasks,” Proceedings of the Automation Congress, 2004. Proceedings. World, Seville, Spain (Jun. 28–Jul. 1, 2004) pp. 523–528. IEEE.Google Scholar
5.Barreiro, T. B. S. J., Chavez-Clemente, D. and SunSpiral, D. E. S. V., “ATHLETE's Feet: Multi-Resolution Planning for a Hexapod Robot,” (2008).Google Scholar
6.SunSpiral, V., et al., “FootFall: A Ground Based Operations Toolset Enabling Walking for the ATHLETE Rover,” Proceedings of the AIAA Space Conference, San Diego, United States (Sep. 9–11, 2008) pp. 78–89.Google Scholar
7.SunSpiral, V., et al., “Development and field testing of the FootFall planning system for the ATHLETE robots,” J. Field Robot. 29 (3), 483–505 (2012).CrossRefGoogle Scholar
8.Wilcox, B. H., et al., “ATHLETE: A cargo handling and manipulation robot for the moon,” J. Field Robot. 24 (5), 421–434 (2007).CrossRefGoogle Scholar
9.Kar, D. C., “Design of statically stable walking robot: A review,” J. Robot. Syst. 20 (11), 671–686 (2003).CrossRefGoogle Scholar
10.Wang, Z. Y., Ding, X. L. and Rovetta, A., “Analysis of typical locomotion of a symmetric hexapod robot,” Robotica 28, 893–907 (2010).CrossRefGoogle Scholar
11.Wang, Z. Y., et al., “Mobility analysis of the typical gait of a radial symmetrical six-legged robot,” Mechatronics 21 (7), 1133–1146 (2011).CrossRefGoogle Scholar
12.Kimura, S., et al., “A fault-tolerant control algorithm having a decentralized autonomous architecture for space hyper-redundant manipulators,” IEEE Trans. Syst. Man Cybern. Part A–Syst. Humans 28 (4), 521–527 (1998).CrossRefGoogle Scholar
13.Lee, Y. J., et al., “Three-Legged Walking for Fault Tolerant Locomotion of a Quadruped Robot with Demining Mission,” Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (2000), IEEE, New York, pp. 973–978.Google Scholar
14.Lee, Y. J. and Hirose, S., “Three-legged walking for fault-tolerant locomotion of demining quadruped robots,” Adv. Robot. 16 (5), 415–426 (2002).CrossRefGoogle Scholar
15.Pana, C. F., et al., “Locomotion of Legged Robot with Locked Joint,” Proceedings of the 8th WSEAS International Conference on Systems Theory and Scientific Computation (Mastorakis, N. E., et al., eds.) (World Scientific and Engineering Acad. and Soc., Athens, 2008) pp. 172–176.Google Scholar
16.Pana, C. F., Resceanu, I. C. and Patrascu, D. V., “Fault-Tolerant Gaits of Quadruped Robot on a Constant-Slope Terrain,” Proceedings of the 2008 IEEE International Conference on Automation, Quality and Testing, Robotics (Miclea, L. and Stoian, I., eds.) (IEEE, New York, 2008) pp. 222–226.CrossRefGoogle Scholar
17.Sousa, J., et al., “A Bio-Inspired Postural Control for a Quadruped Robot: An Attractor-Based Dynamics,” Proceedings of the IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IEEE, New York, 2010) pp. 5329–5334.Google Scholar
18.Krishnan, V. L., et al., “Reconfiguration of Four Legged Walking Robot for Actuator Faults,” Proceedings of the 2010 International Conference on Bond Graph Modeling and Simulation (Chinni, M. J. and Weed, D., eds.) (Soc Modeling Simulation Int.-Scs., San Diego, 2010) pp. 134–141.Google Scholar
19.Yang, J. M., “Crab walking of quadruped robots with a locked joint failure,” Adv. Robot. 17 (9), 863–878 (2003).CrossRefGoogle Scholar
20.Yang, J. M. and Shim, K. H., “Fault Tolerance in Crab Walking of Quadruped Robots,” Proceedings of the MLMTA'03: International Conference on Machine Learning; Models, Technologies and Applications (Arabnia, H. R. and Kozerenko, E. B., eds.) (CSRE, a Press, Athens, 2003) pp. 35–36.Google Scholar
21.Yang, J. M., “Two-phase discontinuous gaits for quadruped walking machines with a failed leg,” Robot. Auton. Syst. 56 (9), 728–737 (2008).CrossRefGoogle Scholar
22.Yang, J. M., “Fault-tolerant gaits of quadruped robots for locked joint failures,” IEEE Trans. Syst. Man Cybern. Part C-Appl. Rev. 32 (4), 507–516 (2002).CrossRefGoogle Scholar
23.Yang, J. M. and Kim, J. H., “Fault-tolerant locomotion of the hexapod robot,” IEEE Trans. Syst. Man Cybern. Part B-Cybern. 28 (1), 109–116 (1998).CrossRefGoogle ScholarPubMed
24.Yang, J. M. and Kim, J. H., “Optimal fault tolerant gait sequence of the hexapod robot with overlapping reachable areas and crab walking,” IEEE Trans. Syst. Man Cybern. Part A-Syst. Humans 29 (2), 224–235 (1999).CrossRefGoogle Scholar
25.Yang, J. M. and Kim, J. H., “A fault tolerant gait for a hexapod robot over uneven terrain,” IEEE Trans. Syst. Man Cybern. Part B-Cybern. 30 (1), 172–180 (2000).CrossRefGoogle ScholarPubMed
26.Yang, J. M., “Fault-tolerant gait planning for a hexapod robot walking over rough terrain,” J. Intell. Robot. Syst. 54 (4), 613–627 (2009).CrossRefGoogle Scholar
27.Yang, J. M., “Tripod gaits for fault tolerance of hexapod walking machines with a locked joint failure,” Robot. Auton. Syst. 52 (2–3), 180–189 (2005).CrossRefGoogle Scholar
28.Yang, J. M., “Fault-tolerant crab gaits and turning gaits for a hexapod robot,” Robotica 24, 269–270 (2006).CrossRefGoogle Scholar
29.Yang, J.-M., “Omnidirectional walking of legged robots with a failed leg,” Math. Comput. Modelling 47 (11–12), 1372–1388 (2008).CrossRefGoogle Scholar
30.Yang, J. M., “Gait synthesis for hexapod robots with a locked joint failure,” Robotica 23, 701–708 (2005).CrossRefGoogle Scholar
31.Yang, J. M., “Kinematic constraints on fault-tolerant gaits for a locked joint failure,” J. Intell. Robot. Syst. 45 (4), 323–342 (2006).CrossRefGoogle Scholar
32.Jakimovski, B., et al., “Swarm Intelligence for Self-Reconfiguring Walking Robot,” Proceedings of the 2008 IEEE Swarm Intelligence Symposium, (IEEE, New York, 2008) pp. 67–74.Google Scholar
33.Asif, U., “Improving the navigability of a hexapod robot using a fault-tolerant adaptive gait,” Int. J. Adv. Robot. Syst. 9, 12 (2012).CrossRefGoogle Scholar
34.Chu, S.-K. and Pang, G.-H., “Comparison between different model of hexapod robot in fault-tolerant gait,” Syst., Man Cybern., Part A: Syst. Humans, IEEE Trans. 32 (6), 752–756 (2002).CrossRefGoogle Scholar
35.Pan, Y. and Gao, F., “A New 6-Parallel-Legged Walking Robot for Drilling Holes on the Fuselage,” Proc. Inst. Mech. Eng., Part C: J. Mech. Eng. Sci. 228 (4), 753–764 (2014).CrossRefGoogle Scholar