A Gait Generation for an Unlocked Joint Failure of the Quadruped Robot with Balance Weight

  • C. H. Cho
  • B. C. Min
  • D. H. Kim
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5744)


Assurance of a stability margin for a stabilized gait is the most important issue for the quadruped robot. Although various studies for dynamic stability of the quadruped robot have been studied, problems in which one of the legs has an unlocked joint failure haven’t been relatively studied so far. In this paper, assurance of stability margin for the unlocked joint failure of the quadruped robot is suggested by using gait stabilization and a control method of the moment of inertia. Then, efficiency of BW (balance weight) will be experimentally verified by comparing the two types of robot; one is equipped with the BW, the other is not equipped with BW.


quadruped robot balance weight joint failure 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • C. H. Cho
    • 1
  • B. C. Min
    • 1
  • D. H. Kim
    • 1
  1. 1.Department of Electronic EngineeringKyung Hee UniversityYongin-SiKorea

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