0
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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2014 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

A quadruped robot named “Baby Elephant”

Grahic Jump Location
Fig. 2

Leg structure model

Grahic Jump Location
Fig. 3

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

Grahic Jump Location
Fig. 4

(a) and (b) Incidence relation diagram

Grahic Jump Location
Fig. 5

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

Grahic Jump Location
Fig. 6

Schematic diagram of robot mechanism

Grahic Jump Location
Fig. 7

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

Grahic Jump Location
Fig. 8

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

Grahic Jump Location
Fig. 9

(a)–(e) Remained translation of Tb

Grahic Jump Location
Fig. 10

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

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In