Gait planning and fault-tolerant control of quadruped robots

Yong Yong Zhao; Jing Hua Wang; Bao Wen Zhang; Xu Yao; Guo Hua Cao

doi:10.1117/12.2679751

18 July 2023 Gait planning and fault-tolerant control of quadruped robots

Yong Yong Zhao, Jing Hua Wang, Bao Wen Zhang, Xu Yao, Guo Hua Cao

Proceedings Volume 12722, Third International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023); 127223S (2023) https://doi.org/10.1117/12.2679751
Event: International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023), 2023, Hangzhou, China

Abstract

The legged robot has a strong ability to adapt to complex terrain. There are few researches on the adaptive fault tolerance of motion joint actuators of quadruped robots. Therefore, based on the basic principles of foot trajectory planning and gait planning, this paper plans the quadruped robot's foot trajectory and walking gait. Secondly, an adaptive fault-tolerant control law is designed for a quadruped robot's leg joint actuator fault. Finally, mathematical proof and simulation results show that the system can still safely complete the control task within the fault-tolerant range of the expected performance index after some actuator faults. This study provides direction for further research on the compliant motion of quadruped robots with partial actuator faults.

Citation Download Citation

Yong Yong Zhao, Jing Hua Wang, Bao Wen Zhang, Xu Yao, and Guo Hua Cao "Gait planning and fault-tolerant control of quadruped robots", Proc. SPIE 12722, Third International Conference on Mechanical, Electronics, and Electrical and Automation Control (METMS 2023), 127223S (18 July 2023); https://doi.org/10.1117/12.2679751

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