Evolutionary Gait Reconfiguration in Damaged Legged Robots
Fuente:
arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866918069682569216 |
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| author | Farghdani, Sahand Chhabra, Robin |
| author_facet | Farghdani, Sahand Chhabra, Robin |
| contents | Multi-legged robots deployed in complex missions are susceptible to physical damage in their legs, impairing task performance and potentially compromising mission success. This letter presents a rapid, training-free damage recovery algorithm for legged robots subject to partial or complete loss of functional legs. The proposed method first stabilizes locomotion by generating a new gait sequence and subsequently optimally reconfigures leg gaits via a developed differential evolution algorithm to maximize forward progression while minimizing body rotation and lateral drift. The algorithm successfully restores locomotion in a 24-degree-of-freedom hexapod within one hour, demonstrating both high efficiency and robustness to structural damage. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_19968 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Evolutionary Gait Reconfiguration in Damaged Legged Robots Farghdani, Sahand Chhabra, Robin Robotics Multi-legged robots deployed in complex missions are susceptible to physical damage in their legs, impairing task performance and potentially compromising mission success. This letter presents a rapid, training-free damage recovery algorithm for legged robots subject to partial or complete loss of functional legs. The proposed method first stabilizes locomotion by generating a new gait sequence and subsequently optimally reconfigures leg gaits via a developed differential evolution algorithm to maximize forward progression while minimizing body rotation and lateral drift. The algorithm successfully restores locomotion in a 24-degree-of-freedom hexapod within one hour, demonstrating both high efficiency and robustness to structural damage. |
| title | Evolutionary Gait Reconfiguration in Damaged Legged Robots |
| topic | Robotics |
| url | https://arxiv.org/abs/2506.19968 |