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crab gaits

Robotica (1)

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Fault-tolerant crab gaits and turning gaits for a hexapod robot
Jung-Min Yang
Journal:

Robotica / Volume 24 / Issue 2 / March 2006

Published online by Cambridge University Press:

31 October 2005, pp. 269-270
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This paper studies crab gaits and turning gaits of a hexapod robot with a locked joint failure. Due to the reduced workspace of a failed leg, fault-tolerant gaits have limitations in their mobility. Based on the principles of fault-tolerant gait planning, periodic crab gaits and turning gaits are proposed in which a hexapod robot carries out tripod walking after a locked joint failure, having a reasonable stride length and stability margin.