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Legged robots have greater capability to traverse irregular terrains. However, one of the most common problems is the failure of the actuators when the robot is working in remote. Fault-tolerant gait about one fault actuator can be found. This paper proposes another algorithm for more than one fault actuators. The degree-of-freedoms (DOFs) of the robot body are divided into two parts: the major DOFs,...
A quadruped robot “Baby Elephant” with parallel legs has been developed. It is about 1 m tall, 1.2 m long and 0.5m wide. It weighs about 130 kg. Driven by a new type of hydraulic actuation system, the Baby Elephant is designed to work as a mechanical carrier. It can carry a payload more than 50 kg. In this study, the structure of the legs is introduced first. Then the effect of the springs for increasing...
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