Fault-tolerant adaptive gait generation for multi-limbed robot

Takeyuki Kawata; Kazuto Kamiyama; Masaru Kojima; Mitsuhiro Horade; Yasushi Mae; Tatsuo Arai

doi:10.1109/IROS.2016.7759520

Fault-tolerant adaptive gait generation for multi-limbed robot

Takeyuki Kawata, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

Osaka University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

The paper describes a method of fault-tolerant adaptive gait generation based on CPG controller with interlimb coordination for multi-limbed working robot. Multi-limbed robot is expected to work in dangerous, complicated narrow spaces, where human workers cannot reach. However, if one of the limbs is broken in the dangerous/narrow working space, human operators cannot go to the space to repair it. Even in these situations, the proposed method generates a new gait adaptively using the remaining usable limbs depending on the current situation of the multi-limbed robot. This fault-tolerant ability is effective for multi-limbed robots working in dangerous/narrow space. The method is implemented to a model of a multi-limbed robot "ASTERISK" in a dynamical simulator (ODE). Experimental results show effectiveness of the proposed method.

Original language	English
Title of host publication	IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3381-3386
Number of pages	6
ISBN (Electronic)	9781509037629
DOIs	https://doi.org/10.1109/IROS.2016.7759520
Publication status	Published - 28 Nov 2016
Externally published	Yes
Event	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of Duration: 9 Oct 2016 → 14 Oct 2016

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2016-November
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Country/Territory	Korea, Republic of
City	Daejeon
Period	9/10/16 → 14/10/16

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10.1109/IROS.2016.7759520

Cite this

Kawata, T., Kamiyama, K., Kojima, M., Horade, M., Mae, Y., & Arai, T. (2016). Fault-tolerant adaptive gait generation for multi-limbed robot. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3381-3386). Article 7759520 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2016.7759520

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title = "Fault-tolerant adaptive gait generation for multi-limbed robot",

abstract = "The paper describes a method of fault-tolerant adaptive gait generation based on CPG controller with interlimb coordination for multi-limbed working robot. Multi-limbed robot is expected to work in dangerous, complicated narrow spaces, where human workers cannot reach. However, if one of the limbs is broken in the dangerous/narrow working space, human operators cannot go to the space to repair it. Even in these situations, the proposed method generates a new gait adaptively using the remaining usable limbs depending on the current situation of the multi-limbed robot. This fault-tolerant ability is effective for multi-limbed robots working in dangerous/narrow space. The method is implemented to a model of a multi-limbed robot {"}ASTERISK{"} in a dynamical simulator (ODE). Experimental results show effectiveness of the proposed method.",

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doi = "10.1109/IROS.2016.7759520",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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Kawata, T, Kamiyama, K, Kojima, M, Horade, M, Mae, Y & Arai, T 2016, Fault-tolerant adaptive gait generation for multi-limbed robot. in IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems., 7759520, IEEE International Conference on Intelligent Robots and Systems, vol. 2016-November, Institute of Electrical and Electronics Engineers Inc., pp. 3381-3386, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016, Daejeon, Korea, Republic of, 9/10/16. https://doi.org/10.1109/IROS.2016.7759520

Fault-tolerant adaptive gait generation for multi-limbed robot. / Kawata, Takeyuki; Kamiyama, Kazuto; Kojima, Masaru et al.
IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2016. p. 3381-3386 7759520 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2016-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Mae, Yasushi

AU - Arai, Tatsuo

PY - 2016/11/28

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AB - The paper describes a method of fault-tolerant adaptive gait generation based on CPG controller with interlimb coordination for multi-limbed working robot. Multi-limbed robot is expected to work in dangerous, complicated narrow spaces, where human workers cannot reach. However, if one of the limbs is broken in the dangerous/narrow working space, human operators cannot go to the space to repair it. Even in these situations, the proposed method generates a new gait adaptively using the remaining usable limbs depending on the current situation of the multi-limbed robot. This fault-tolerant ability is effective for multi-limbed robots working in dangerous/narrow space. The method is implemented to a model of a multi-limbed robot "ASTERISK" in a dynamical simulator (ODE). Experimental results show effectiveness of the proposed method.

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Kawata T, Kamiyama K, Kojima M, Horade M, Mae Y, Arai T. Fault-tolerant adaptive gait generation for multi-limbed robot. In IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2016. p. 3381-3386. 7759520. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2016.7759520

Fault-tolerant adaptive gait generation for multi-limbed robot

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