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.

翻译：摘要：腿足式机器人在复杂动态环境中的应用场景极为广泛，但此类环境使其面临较高的肢体损伤风险。本文针对四足机器人单肢缺失（已知缺失）情况下的容错动态步态开展实证研究。初步数据表明，所提出的步态控制器能够成功将先前开发的平面单腿跳跃模板锚定于三足空间机器中。这种组合方法为受损四足机器人开发更广泛的三足恢复步态提供了具有通用性的实用指导框架。