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Reconfiguration of four legged walking robot for actuator faults

Published: 11 April 2010 Publication History

Abstract

This paper presents fault tolerant control through reconfiguration of a four legged walking robot. It is assumed that the walking robot motion is in sagittal plane and it follows the bounding gait. The bond graph model of walking robot in sagittal plane is developed. A novel and simple attitude control device based on the motion of the moving appendage is proposed. The bond graph model of the system is used to generate the Analytical Redundancy Relations (ARRs) which are then evaluated with actual measurements to generate residuals. These residuals are used to perform structural fault isolation. Once the fault list is updated in the equipment availability database, an automaton selects the best option to reconfigure the system such that the given control objectives are achieved. The developed methodology is validated by considering the joint actuator failure.

References

[1]
Yang, J. M., 2005, "Tripod Gaits for Fault Tolerance of Hexapod Walking Machines with a Locked Joint Failure", Robotics and Autonomous Systems, 52, no. 2-3, 180--189.
[2]
Yang, J. M., 2008, "Omni-directional Walking of Legged Robots with a Failed Leg", Mathematical and Computer Modeling, 47, no. 11-12, 1372--1388.
[3]
Yang, J. M., 2008, "Two-Phase Discontinuous Gaits for Quadruped Walking Machines with a Failed Leg", Robotics and Autonomous Systems, 56, no. 9, 728--737.
[4]
Yang J. M., Ko D. I., Shim K. H., Hwang S. K., 2000, "Fault Tolerant Gaits of Legged Robots for Locked Joint Failures", In Proceedings of the 2000 IEEE Int. Conf. on Systems, Man, and Cybernetics, Nashville, Vol. 5, 3300--3305.
[5]
Mittal A., Lohani H. and Pandey A., 2009, "Dynamic Analysis of a Quadruped Robot" B. Tech thesis, IIT Roorkee, Roorkee, India.
[6]
Pathak P. M., Merzouki R., Samantaray A. K. and Bouamama B. Ould, 2008, "Reconfiguration of Directional Handling of an Autonomous Vehicle" In Proc. of the IEEE Region 10 and Third Int. Conf. on Industrial and Information Systems, ICIIS, IIT Kharagpur, India, 1--6.
[7]
Samantaray A. K. and Ghoshal S. K., 2008, "Bi-causal Bond Graphs for Supervision: From Fault Detection and Isolation to Fault Accommodation", Journal of Franklin Institute, 345, no. 1, 1--28.

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  • (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

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SpringSim '10: Proceedings of the 2010 Spring Simulation Multiconference
April 2010
1726 pages
ISBN:9781450300698

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  • SCS: Society for Modeling and Simulation International

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Society for Computer Simulation International

San Diego, CA, United States

Publication History

Published: 11 April 2010

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Author Tags

  1. attitude control
  2. fault tolerance
  3. locked joint failure
  4. reconfiguration
  5. walking robot

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SpringSim '10
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  • SCS
SpringSim '10: 2010 Spring Simulation Conference
April 11 - 15, 2010
Florida, Orlando

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  • (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

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