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日益广泛，但这类环境也使其面临较高的肢体损伤风险。本文针对存在单一已知"缺失"肢体的四足机器人，开展了容错动态步态的实证研究。初步数据表明，所提出的步态控制器成功地将先前开发的平面单足跳跃模板锚定至三腿空间机器人中。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实用且可推广的指导框架。