| contributor author | Wang, Jing | |
| contributor author | Gao, Feng | |
| contributor author | Zhang, Yong | |
| date accessioned | 2017-05-09T01:10:57Z | |
| date available | 2017-05-09T01:10:57Z | |
| date issued | 2014 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_006_04_041015.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/155779 | |
| description abstract | Fault tolerance is an important characteristic of quadruped robots. Actuator failure mode is the basis for research of fault tolerance and motion planning of quadruped robots. In this paper, the combination of actuator failures and the remained endeffector characteristics are investigated based on “GF sets†theory. With intersection operation property in “GF sets,†the remained motion ability can be easily judged. The combination of one and two actuator failures is analyzed in detail and some examples are used to illustrate the method of motion ability analysis. Experiments are carried out on the prototype of a novel quadruped robot and the results show that this method is effective for analysis of fault tolerance of quadruped robots. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Topology Configuration of Actuator Failure Mode of a Novel Quadruped Robot | |
| type | Journal Paper | |
| journal volume | 6 | |
| journal issue | 4 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4028151 | |
| journal fristpage | 41015 | |
| journal lastpage | 41015 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2014:;volume( 006 ):;issue: 004 | |
| contenttype | Fulltext | |
