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Research Papers

Topology Configuration of Actuator Failure Mode of a Novel Quadruped Robot

[+] Author and Article Information
Jing Wang

State Key Laboratory of Mechanical
System and Vibration,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dong Chuan Road,
Shanghai 201100, China
e-mail: fwjing@sjtu.edu.cn

Feng Gao

Mem. ASME
State Key Laboratory of Mechanical
System and Vibration,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dong Chuan Road,
Shanghai 201100, China
e-mail: fengg@sjtu.edu.cn

Yong Zhang

State Key Laboratory of Mechanical
System and Vibration,
School of Mechanical Engineering,
Shanghai Jiao Tong University,
800 Dong Chuan Road,
Shanghai 201100, China
e-mail: lzyong@sjtu.edu.cn

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received November 11, 2013; final manuscript received July 29, 2014; published online August 13, 2014. Assoc. Editor: Yuefa Fang.

J. Mechanisms Robotics 6(4), 041015 (Aug 13, 2014) (7 pages) Paper No: JMR-13-1229; doi: 10.1115/1.4028151 History: Received November 11, 2013; Revised July 29, 2014

Fault tolerance is an important characteristic of quadruped robots. Actuator failure mode is the basis for research of fault tolerance and motion planning of quadruped robots. In this paper, the combination of actuator failures and the remained end-effector characteristics are investigated based on “GF sets” theory. With intersection operation property in “GF sets,” the remained motion ability can be easily judged. The combination of one and two actuator failures is analyzed in detail and some examples are used to illustrate the method of motion ability analysis. Experiments are carried out on the prototype of a novel quadruped robot and the results show that this method is effective for analysis of fault tolerance of quadruped robots.

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References

Raibert, M., Blankespoor, K., and Nelson, G., 2008, “BigDog, the Rough-Terrain Quadruped Robot,” 17th World Congress The International Federation of Automatic Control, Seoul, Korea, July 6–11, pp. 10822–10825.
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Lee, Y. J., and Hirose, S., 2002, “Three-Legged Walking for Fault-Tolerant Locomotion of Demining Quadruped Robots,” Adv. Rob., 16(5), pp. 415–426. [CrossRef]
Gao, F., Yang, J. L., and Ge, Q. D., 2011, GF Sets Theory of Type Synthesis for Parallel Robotic Mechanisms, China Science Press, Beijing.
Gao, F., and Yang, J. L., 2013, Topology Synthesis for Parallel Robotic Mechanisms, Center for Advanced Studies, Warsaw University of Technology, Warsaw, Poland.
Gao, F., Yang, J. L., and Ge, Q. D., 2010, “Type Synthesis of Parallel Mechanisms Having the Second Class GF Sets and Two Dimensional Rotations,” ASME J. Mech. Rob., 3(1), p. 011003. [CrossRef]

Figures

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Fig. 1

A quadruped robot named “Baby Elephant”

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Fig. 2

Leg structure model

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Fig. 3

(a) Schematic diagram of leg mechanism-original and (b) leg mechanism-equivalent

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Fig. 4

(a) and (b) Incidence relation diagram

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Fig. 5

(a) and (b) Workspace of end-effector

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Fig. 6

Schematic diagram of robot mechanism

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Fig. 7

(a)–(d) Remained rotation around axis Rα

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Fig. 8

(a)–(c) Remained rotation around axis Rγ

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Fig. 9

(a)–(e) Remained translation of Tb

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Fig. 10

(a)–(d) Remained translation of Ta and Tc

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