Three-legged walking for fault-tolerant locomotion of demining quadruped robots

@article{Lee2002ThreeleggedWF,
  title={Three-legged walking for fault-tolerant locomotion of demining quadruped robots},
  author={Yun-Jung Lee and Shigeo Hirose},
  journal={Advanced Robotics},
  year={2002},
  volume={16},
  pages={415-426}
}
The ability to develop a gait with one or more legs missing is an important issue for multi-legged robots used in demining applications. Accordingly, this paper presents a three-legged gait under the assumption that one leg of a quadruped walking robot is missing. After outlining a posture classiŽ cation scheme for three-leggedwalking, the kick-and-swinggait is proposed as a basic and reasonable gait for three-legged walking and analyzed using a simple dynamic model. Minimum energy gait… CONTINUE READING