Multi-Task Learning of Active Fault-Tolerant Controller for Leg Failures in Quadruped robots
Taixian Hou,Jiaxin Tu,Xiaofei Gao,Zhiyan Dong,Peng Zhai,Lihua Zhang,Taixian Hou,Jiaxin Tu,Xiaofei Gao,Zhiyan Dong,Peng Zhai,Lihua Zhang
Electric quadruped robots used in outdoor exploration are susceptible to leg-related electrical or mechanical failures. Unexpected joint power loss and joint locking can immediately pose a falling threat. Typically, controllers lack the capability to actively sense the condition of their own joints and take proactive actions. Maintaining the original motion patterns could lead to disastrous conseq...
