Modeling and Analysis of Fault Tolerant Gait of a Multi-legged Robot Moving on an Inclined Plane

摘要

This paper proposes the fault tolerant gait to be used in locomotion of hexapod robot on inclined plane. Comparison between various possible gaits has been made. Out of these, the described gait is selected for slow walking of hexapod. A general fault tolerant algorithm is developed depending on the leg failed. In case there occurs a sudden fault event in one of the legs, turning motion is used to rotate the robot body to desired position to avoid permanent damage of failed leg. The condition under which turning motion takes place is analyzed theoretically.