Fault-tolerant control of a compliant legged quadruped robot for free swinging failure

Quadruped robots are designed to work in remote or hazardous environments which are unreachable or harmful for humans. In these situations, reliability and adaptability are the most critical issues for the quadruped robot. During the failure of any actuator, the performance of quadruped robot is sev...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering Journal of systems and control engineering, 2018-02, Vol.232 (2), p.161-177
Hauptverfasser:	Gor, Mehul M, Pathak, PM, Samantaray, AK, Yang, Jung Ming, Kwak, SW
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer simulation Disabilities Dynamic models Failure Fault tolerance Hazardous areas Infants Load resistance Mechanical engineering Robots
Online-Zugang:	Volltext
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