TY - JOUR
T1 - Gait generating network for hexapod robot in consideration of fault tolerance
AU - Inaba, Kimitaka
AU - Nakazawa, Kazuo
N1 - Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2007/4
Y1 - 2007/4
N2 - Recently, robots attract attention as a work force in the dangerous and severe environment. Especially, legged robots are extensively researched for the use in such environment. In such environment, it is necessary for the legged robot working to have fault tolerance and adaptability to environment. There are two reasons. The first is that road condition is not maintained by human. The second is that it is difficult to repair robots. In this paper, a gait generating network with fault tolerant, adaptability to irregular terrain and decentralized system are applied to a hexapod robot. In the proposed method, a new network is generated when one of the legs is broken and a new gait is produced with new network which consists of the remaining legs. The method is applied to hexapod robot and experimental simulation is conducted. The generation of gait when walking in slopes and walking with one deficient leg is confirmed.
AB - Recently, robots attract attention as a work force in the dangerous and severe environment. Especially, legged robots are extensively researched for the use in such environment. In such environment, it is necessary for the legged robot working to have fault tolerance and adaptability to environment. There are two reasons. The first is that road condition is not maintained by human. The second is that it is difficult to repair robots. In this paper, a gait generating network with fault tolerant, adaptability to irregular terrain and decentralized system are applied to a hexapod robot. In the proposed method, a new network is generated when one of the legs is broken and a new gait is produced with new network which consists of the remaining legs. The method is applied to hexapod robot and experimental simulation is conducted. The generation of gait when walking in slopes and walking with one deficient leg is confirmed.
KW - Decentralized system
KW - Fault tolerance
KW - Gait generation
KW - Learning control
KW - Moving robot
KW - Neural network
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U2 - 10.1299/kikaic.73.1196
DO - 10.1299/kikaic.73.1196
M3 - Article
AN - SCOPUS:34547274103
VL - 73
SP - 1196
EP - 1201
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 4
ER -