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Full-Text Articles in Controls and Control Theory
Disturbance Detection, Identification, And Recovery By Gait Transition In Legged Robots, Aaron M. Johnson, Galen Clark Haynes, Daniel E. Koditschek
Disturbance Detection, Identification, And Recovery By Gait Transition In Legged Robots, Aaron M. Johnson, Galen Clark Haynes, Daniel E. Koditschek
Daniel E Koditschek
We present a framework for detecting, identifying, and recovering within stride from faults and other leg contact disturbances encountered by a walking hexapedal robot. Detection is achieved by means of a software contactevent sensor with no additional sensing hardware beyond the commercial actuators’ standard shaft encoders. A simple finite state machine identifies disturbances as due either to an expected ground contact, a missing ground contact indicating leg fault, or an unexpected “wall” contact. Recovery proceeds as necessary by means of a recently developed topological gait transition coordinator. We demonstrate the efficacy of this system by presenting preliminary data arising from …