@inproceedings{4c5dd328906e40e7a3974fe79a1e2194,
title = "Autonomous fault-tolerant gait planning research for electrically driven large-load-ratio six-legged robot",
abstract = "Gait planning is an important basis for the walking of the multi-legged robot. To improve the walking stability and to reduce the impact force between the foot and the ground, autonomous fault-tolerant gait strategies are respectively presented for an electrically driven large-load-ratio six-legged robot. Then, the configuration and walking gait of robot are designed. Typical walking ways are acquired. According to the Denavit–Hartenberg (D–H) method, the kinematics analysis is implemented. The mathematical models of articulated rotation angles are established. In view of the buffer device installed at the end of shin, an initial lift height of leg is brought into the gait planning when the support phase changes into the transfer phase. The mathematical models of foot trajectories are established. The autonomous fault-tolerant gait strategies are proposed. The prototype experiments of electrically driven large-load-ratio six-legged robot are carried out. The reasonableness of autonomous fault-tolerant gait strategy is verified based on the experimental results. The proposed strategies of fault-tolerant gait planning can provide a reference for other multi-legged robot.",
keywords = "Fault-tolerant gait, Initial lift height, Large-load-ratio six-legged robot, Support phase, Transfer phase",
author = "Zhuang, \{Hong Chao\} and Ning Wang and Gao, \{Hai Bo\} and Deng, \{Zong Quan\}",
note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 12th International Conference on Intelligent Robotics and Applications, ICIRA 2019 ; Conference date: 08-08-2019 Through 11-08-2019",
year = "2019",
doi = "10.1007/978-3-030-27526-6\_21",
language = "英语",
isbn = "9783030275259",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "231--244",
editor = "Haibin Yu and Jinguo Liu and Lianqing Liu and Yuwang Liu and Zhaojie Ju and Dalin Zhou",
booktitle = "Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings",
address = "德国",
}