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View all- Saglietti FWinzinger SLill R(2015)Reconfiguration Testing for Cooperating Autonomous AgentsComputer Safety, Reliability, and Security10.1007/978-3-319-24249-1_13(144-155)Online publication date: 9-Dec-2015
This paper studies omnidirectional walking of a hexapod robot with a locked joint failure by proposing crab gaits and turning gaits. Due to the reduced workspace of a failed leg, fault-tolerant gaits have limitations in their mobility. As for crab gaits,...
Multi-legged robots need fault-tolerant gaits if one of attached legs suffers from a failure and cannot have normal operation. Moreover, when the robots with a failed leg are walking over rough terrain, fault-tolerance should be combined with adaptive ...
This paper describes a center of pressure (CoP) control algorithm for maintaining dynamic balance of a six-legged walking robot, Little Crabster. Little Crabster is a ground walking test robot that has been manufactured as part of the process to develop ...
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