Autonomous Fault-Tolerant Gait Planning Research for Electrically Driven Large-Load-Ratio Six-Legged Robot

Gait planning is an important basis for the walking of the multi-legged robot. To improve the walking stability and to reduce the impact force between the foot and the ground, autonomous fault-tolerant gait strategies are respectively presented for an electrically driven large-load-ratio six-legged robot. Then, the configuration and walking gait of robot are designed. Typical walking ways are acquired. According to the Denavit–Hartenberg (D–H) method, the kinematics analysis is implemented. The mathematical models of articulated rotation angles are established. In view of the buffer device installed at the end of shin, an initial lift height of leg is brought into the gait planning when the support phase changes into the transfer phase. The mathematical models of foot trajectories are established. The autonomous fault-tolerant gait strategies are proposed. The prototype experiments of electrically driven large-load-ratio six-legged robot are carried out. The reasonableness of autonomous fault-tolerant gait strategy is verified based on the experimental results. The proposed strategies of fault-tolerant gait planning can provide a reference for other multi-legged robot.