Effects of Foot Shape on Fault Tolerant Gaits of a Quadruped Robot

Seong Woo Kwak and Jung-Min Yang


Fault tolerant gaits, quadruped robots, locked joint failures, plate feet, stride length


Fault tolerant gaits make legged robots maintain gait stability and continue static walking in spite of occurrences of a leg failure. In this paper, we investigate the effect of foot shape on the performance of fault tolerant gaits. All the former studies assume that a legged robot has feet that have point contact with the surface. But, as the development of the walking robot technology has advanced, two dimensional feet shapes are being widely used in static as well as dynamic walking. We show that a legged robot with feet of plate shape shows superior fault tolerant walking over those with point feet, especially in terms of the stride length. In particular, fault tolerant gaits for a quadruped robot against a locked joint failure are analyzed in detail with respect to different foot shapes.

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