Proposal of recovery strategy from loss of leg incident for legged walking robot

Abstract

In this paper author gives an overview of locomotion strategy based on the idea of using virtual leading edges for movement calculations of a multi-legged robot, of symmetrical construction and proposes the idea of using locomotion strategy for recovery from loss of leg incident by reconfiguring the robot to resemble legged mechanisms with lesser number of legs and applying virtual leading edges locomotion strategy to a new configuration. Presented locomotion strategy can be used for energy-efficient robot with low power processors. The method is fast and the computational cost is low.