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：腿式机器人的大量应用涉及复杂动态环境中的任务。然而，这些环境使腿式机器人面临较高的肢体损伤风险。本文针对遭受单条已知“缺失”肢体的四足机器人，开展了一项关于容错动态步态的实证研究。初步数据表明，所采用的特征步态控制器成功地将先前开发的平面单足跳跃模板锚定在三条腿的空间机器中。这种组合方法为开发受损四足机器人更广泛的三足恢复步态提供了实用且可推广的指导。