Abstract
In this paper, we propose the motion adaptation technique on hierarchical structure description for robot joint failure. Traditional techniques have described robots motions using those own each joint angle. So if the robot motions have adapted for another architecture which changed from original one by joint failure, it is impossible that the robot chooses a combination of joints which should be explored by oneself. We propose the motion description based on hierarchical structure and the motion adaptation without identification of robots architecture changing. Experimental result shows that the possibility to adapt the robot motions to changed architecture by oneself.
