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

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Advances in Robotics (FIRA 2009)

Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 5744))

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Abstract

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.

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© 2009 Springer-Verlag Berlin Heidelberg

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Cho, C.H., Min, B.C., Kim, D.H. (2009). A Gait Generation for an Unlocked Joint Failure of the Quadruped Robot with Balance Weight. In: Kim, JH., et al. Advances in Robotics. FIRA 2009. Lecture Notes in Computer Science, vol 5744. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03983-6_29

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  • DOI: https://doi.org/10.1007/978-3-642-03983-6_29

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-03982-9

  • Online ISBN: 978-3-642-03983-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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