Fault-tolerant gait implementation of hexapod robot based on finite state automata

In this paper, the hexapod robot model with symmetrical structure is established. Based on the hexapod robot's movement mechanism, the motion model about different fault joints of the leg is established. A strategy of fault-tolerant tripod gait is proposed. Finite state automata (FSA) is used to analyze the attitude transformation of the robot during normal operation and fault operation. Besides, the adjustment method of the fault tolerant triangle gait is analyzed when the different leg joints malfunction randomly. Finally, the effectiveness of this method is verified by physical platform.