A strategy of optimal fault tolerant gait for the hexapod robot in crab walking

Proposes a gait sequence for fault tolerant locomotion of the hexapod robot with crab walking on even terrain. With the proposed sequence, the hexapod can tolerate a fault in one leg which makes the leg unable to have support state until the end of the locomotion so that it does not fall down and continues the locomotion. The proposed sequence is optimal in the sense that the hexapod has the maximum stride length in one cycle with a specified initial foothold positions of legs. It is shown that the derived sequence for crab walking has different orders of leg swing according to the relative values of the crab angle and some design parameters of the robot