Sajad Moradian, Karim Mohammadi, Mohssen H. Kaiedan, and Mehdi Moradian
Hexapod robot, fault adjustment, hardware redundancy, self-adjustment
In this article, a new algorithm of fault recovery in a hexapod robot, accomplished through hardware redundancy, will be proposed. By implementing an extra joint in each of the robot’s legs, it is possible to adjust the robot following a fault in order to continue locomotion. In this article all sequences of walking after a fault, both before and after the extra joints have been implemented, are shown using a simulation. In addition, the sequences of locomotion and post-fault adjustments are expressed in a flowchart. Finally the sequences of using hardware redundancy in a hexapod robot are justified and reasons to use this method will be explained.
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