The Algorithm of Fault Tolerant Locomotion of Pentapod Robot

In this article we present the gait analysis of pentagonal model for pentapod robot. By using the mathematical relations, the stability margin, turning ability and elongation of stride of robot will be studied. A criterion is considered as stance which in a perfect period of locomotion refers to the minimum number of robot´s leg which is in contact with terrain. It shows that the turning ability of robot is not depend on the amount of ratio of width to the length of reachable area and the amounts of stability margin and elongation of stride by increasing the process of walking of robot shows with two-dimensional models. The previous amounts in presented criterions of hexapod robot compare with current model.