Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots

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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
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GRASP
Kodlab
Legged Robots
Hexapods
Biologically Inspired
Fault Detection
Proprioception
Reactive Behaviors
Controls and Control Theory
Other Electrical and Computer Engineering
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Abstract

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 two reactive behaviors — wall avoidance and leg-break recovery. We believe that extensions of this framework will enable reactive behaviors allowing the robot to function with guarded autonomy under widely varying terrain and self-health conditions.

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2010-10-01
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Departmental Papers (ESE)
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2023-05-17T05:30:10.000
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Suggested Citation: Johnson, A.M., G.C. Haynes and D.E. Koditschek. (2010). "Disturbance Detection, Identification, and Recovery by Gait Transition in Legged Robots" 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems October 18-22, 2010, Taipei, Taiwan. pp. 5347-5353 ©2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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