Gait Planning and Switching Strategy of Hexapod Robot with Single-Leg Failure

For the motion stability and traveling efficiency of the hexapod robot in the case of single-leg failure, this paper takes the hexapod robot with single-leg failure as the research object and designs a fault-tolerant gait planning method for a hexapod robot, which considers motion constraints, motion stability margin, and travel efficiency. To further ensure the robotic hexapod's motion stability and traveling efficiency in switching from normal gait to fault-tolerant gait, this paper designs a gait switching strategy that combines fuzzy control and the Markov decision process. Finally, through the motion simulation and physical experiments of the hexapod robot with single-leg failure, it is verified that the fault-tolerant gait planning method proposed in this paper can effectively improve the motion stability and running efficiency compared with the traditional fault-tolerant gait planning method, and the gait switching strategy can stably switch from the classic gait to the fault-tolerant gait.