Alternative Gaits for Multiped Robots with Leg Failures to Retain Maneuverability

摘要

In modern day, from planetary exploration, disaster response to antiterrorism mission multiped robot has become the major tool. Smart robot with effective gait plan may play a significant role in such missions. But if a leg is injured, it is not possible to repair in this kind of mission. Then robot needs some alternative strategies to complete its mission. This paper proposes a removable sliding leg approach to solve this problem. A fault leg can be detaches and other legs can be slide to better position by the command of operator to get optimum alternative gait configuration. Based on leg sequence, stride length, longitudinal stability and efficiency, alternative gaits are evaluated. This paper recommends tables for different gait sequence with progressive efficiency. These tables can provide options for alternative gait and information about certain damaged leg. Moreover, a procedure for a multi-legged robot to complete its mission after serious leg failure is included. By taking the recommended tables and procedure, the multiped Robot can overcome any fault event and maintain stability and efficiency.