Fault detection algorithm for legged walking robot

摘要

Current article presents fault detection algorithm for hexapod legged walking robot. This algorithm is based on 360 degree panoramic imaging using catadioptric camera setup. Fault detection is a part of normal operation procedures of a legged robot along with gait generation, gait execution, adjustment to changing conditions, recovery from incidents and overall reconfiguration after loss of leg or legs. Such setup provides low-cost, low-weight solution that decreases the complexity of construction, reduces development time and lowers overall cost of production of a robot.