The coupling characteristics of locomotion of the quadruped robot are so complex that the fault of joints may lead the robot out of control. A fault-tolerant gait planning algorithm is proposed to apply for the quadruped robot with the locked joint in order to solve the problem. Firstly, the kinematics model of quadruped robot was built based on kinematics with floating base to form the redundancy equation in the locked joint. And then the Extend Jacobian Matrix (EJM) was used to solve the redundancy equation which satisfied with some optimization function, and fault-tolerant gait planning was achieved. Finally, the result of simulation and prototype experiment verified the practicability and effectiveness of the proposed algorithm. The result shows that the proposed algorithm is more efficient compared with the existing algorithms.
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常青,罗庆生.四足机器人容错性步态规划方法研究[J].机床与液压,2019,47(23):41-46. . Study of Fault-tolerant Gait Planning Algorithm for Quadruped Robot[J]. Machine Tool & Hydraulics,2019,47(23):41-46