Learning-Based Fault Detection for Legged Robots in Remote Dynamic Environments

Abstract

Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a severely debilitated limb. The ability to detect limb damage and adjust movement to a new physical morphology is the difference between survival and death for humans and animals. The same can be said for quadruped robots autonomously carrying out remote assignments in dynamic, complex settings. This work presents the development and implementation of an off-line learning-based method to detect single limb faults from proprioceptive sensor data in a quadrupedal robot. The aim of the fault detection technique is to provide the correct output for the controller to select the appropriate tripedal gait to use given the robot's current physical morphology.

Figures (18)

• Figure B1: Flowchart of Proposed Fault Recovery Framework
• Figure D1: Actual input values (blue) Vs. Reconstructed input values (red) for the intact quadrupedal robot pronking
• Figure D2: Distribution of reconstruction errors for the intact quadrupedal robot when executing fore-aft pronking.
• Figure : (a)
• Figure : (a)