2023/03/04 by Abriana Stewart-Height, Stewart-Height, Abriana, Daniel E. Koditschek +1
Engineering · #Artificial intelligence #Computer science #Control engineering #Controller (irrigation) #Engineering #Gait #Geology #Legged robot #Modular Robots and Swarm Intelligence #Physical medicine and rehabilitation #Quadrupedalism #Robot #Robotic Locomotion and Control #Simulation #Soil Mechanics and Vehicle Dynamics
paper · pdf · doi:10.48550/arxiv.2303.02280
openalex publication_date 2023/03/04 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
A vast number of applications for legged robots entail tasks in complex, dynamic environments. But these environments put legged robots at high risk for limb damage. This paper presents an empirical study of fault tolerant dynamic gaits designed for a quadrupedal robot suffering from a single, known "missing" limb. Preliminary data suggests that the featured gait controller successfully anchors a previously developed planar monopedal hopping template in the three-legged spatial machine. This compositional approach offers a useful and generalizable guide to the development of a wider range of tripedal recovery gaits for damaged quadrupedal machines.