Fault-tolerant gaits of quadruped robot on a constant-slope terrain

Fault-tolerant gaits in robotpsilas locomotion are defined as gaits with which legged robot can continue their walking after a failure event occurs to a leg of the robot. This means that for a given type of failure, the problem of finding fault-tolerant gaits can be formulated with which legged robots can continue their walking after an occurrence of a failure, maintaining static stability. The considered failure is a locked joint failure which prevents a joint of a leg from moving and makes it locked in a known place. Mathematical relations that express the stride length, the duty factor and the stability margin are determined for straight-line motion and for crab locomotion, respectively. Based on above results, the straight-line and crab walking over flat terrain can be generalized to cover the case of locomotion on constant slope terrain.