Stability of walking in a multilegged robot suffering leg loss

Abstract

This article describes: tests of fault tolerance of the eight-legged walking robot SCORMON in the event of leg loss. It evaluates different gaits, which are based on biological research on insect and arachnid walking and concludes with a discussion, what the best gait for the SCORPION system is, when 2 legs are lost It also includes a short introduction to the SCORPION robot and its biomimetic software approach and its performance in different terrain.