Title :
Stability of walking in a multilegged robot suffering leg loss
Author :
Spenneberg, Dirk ; McCullough, Kevin ; Kirchner, Frank
Author_Institution :
Dept. for Mathematics & Comput. Sci., Bremen Univ., Germany
fDate :
26 April-1 May 2004
Abstract :
This article describes: tests of fault tolerance of the eight-legged walking robot SCORMON in the event of leg loss. It evaluates different gaits, which are based on biological research on insect and arachnid walking and concludes with a discussion, what the best gait for the SCORPION system is, when 2 legs are lost It also includes a short introduction to the SCORPION robot and its biomimetic software approach and its performance in different terrain.
Keywords :
biomimetics; control engineering computing; fault tolerance; legged locomotion; biological research; biomimetic software approach; eight-legged walking robot; fault tolerance test; multilegged robot; Biological system modeling; Biomimetics; Communication system control; Computer science; Leg; Legged locomotion; Mobile robots; Nonlinear equations; Robot sensing systems; Stability;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307382
