Title :
Fault detection algorithm for legged walking robot
Author :
Seljanko, Filipp
Author_Institution :
Dept. of Comput. Control, Tallinn Univ. of Technol., Tallinn, Estonia
Abstract :
Current article presents fault detection algorithm for hexapod legged walking robot. This algorithm is based on 360 degree panoramic imaging using catadioptric camera setup. Fault detection is a part of normal operation procedures of a legged robot along with gait generation, gait execution, adjustment to changing conditions, recovery from incidents and overall reconfiguration after loss of leg or legs. Such setup provides low-cost, low-weight solution that decreases the complexity of construction, reduces development time and lowers overall cost of production of a robot.
Keywords :
fault diagnosis; legged locomotion; robot vision; 360-degree panoramic imaging; catadioptric camera; construction complexity; fault detection algorithm; gait execution; gait generation; hexapod legged walking robot; Cameras; Knee; Legged locomotion; Robot vision systems; Servomotors; fault detection; hexapod; legged locomotion; walking robot;
Conference_Titel :
Mechatronics and Automation (ICMA), 2013 IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4673-5557-5
DOI :
10.1109/ICMA.2013.6618086
