Skip to main content

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

  • Conference paper
Advances in Robotics (FIRA 2009)

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

Included in the following conference series:


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.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others


  1. Kumar, V., Waldron, K.J.: Force distribution in closed kinematic chains. IEEE Journal of Robotics and Automation 4(6), 657–664 (1988)

    Article  Google Scholar 

  2. Hiroshi, I., Tamotsu, M., Fumio, H., Masayoshi, K.: Free gait for quadruped robots with posture control. In: 9th IEEE International workshop, pp. 433–438 (2006)

    Google Scholar 

  3. Fukuoka, Y., Kimura, H., Hada, Y., Takase, K.: Adaptive dynamic walking of a quadruped robot on irregular terrain using a neural system model. In: Proceeding of IEEE International Conference on Robotics and Automation, vol. 2, pp. 2037–2042 (2003)

    Google Scholar 

  4. Berkemeier, M.D., Sukthankar, P.: Self-organizing running in a quadruped robot model. In: 2005 IEEE International Conference on Robotics and Automation, pp. 4108–4113 (2005)

    Google Scholar 

  5. Takao, S., Gu, Z., Ikeda, T., Mita, T.: Realization of dynamic walking and running of a cat type quadruped robot using variable constraint control. In: 2003 SiCE Annual Conference, Fukui, pp. 3053–3058 (2003)

    Google Scholar 

  6. Yang, J.M.: Fault-tolerant gaits of quadruped robot for locked joint failures. IEEE Transactions on Systems, Man, and Cybernetics 32(4), 507–516 (2002)

    Article  Google Scholar 

  7. Lee, Y.J., Sigoe, H.: Three-legged walking for fault tolerant locomotion of a quadruped robot with demining mission. In: IEEE/RSJ International Conference on Intelligent Robots and System, vol. 2, pp. 973–978 (2000)

    Google Scholar 

  8. Yang, J.M.: A fault tolerant gait for a hexapod robot over uneven terrain. IEEE Transactions on Systems, Man and Cybernetics 30(1), 172–180 (2000)

    Article  Google Scholar 

  9. Shih, C.L., Klein, C.A.: An adaptive gait for legged walking machines over rough terrain. IEEE Transactions on System, Man and cybernetics 23(4), 1150–1155 (1993)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations


Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2009 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

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.

Download citation

  • DOI:

  • 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)

Publish with us

Policies and ethics