Autonomous Fault-Tolerant Gait Planning Research for Electrically Driven Large-Load-Ratio Six-Legged Robot

  • Hong-Chao ZhuangEmail author
  • Ning Wang
  • Hai-Bo Gao
  • Zong-Quan Deng
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11740)


Gait planning is an important basis for the walking of the multi-legged robot. To improve the walking stability and to reduce the impact force between the foot and the ground, autonomous fault-tolerant gait strategies are respectively presented for an electrically driven large-load-ratio six-legged robot. Then, the configuration and walking gait of robot are designed. Typical walking ways are acquired. According to the Denavit–Hartenberg (D–H) method, the kinematics analysis is implemented. The mathematical models of articulated rotation angles are established. In view of the buffer device installed at the end of shin, an initial lift height of leg is brought into the gait planning when the support phase changes into the transfer phase. The mathematical models of foot trajectories are established. The autonomous fault-tolerant gait strategies are proposed. The prototype experiments of electrically driven large-load-ratio six-legged robot are carried out. The reasonableness of autonomous fault-tolerant gait strategy is verified based on the experimental results. The proposed strategies of fault-tolerant gait planning can provide a reference for other multi-legged robot.


Large-load-ratio six-legged robot Fault-tolerant gait Initial lift height Support phase Transfer phase 



This work was supported by the National Natural Science Foundation of China (Grant No. 51505335) and the Doctor Startup Projects of TUTE (Grant No. KYQD 1903, KYQD 1806).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Hong-Chao Zhuang
    • 1
    Email author
  • Ning Wang
    • 2
  • Hai-Bo Gao
    • 3
  • Zong-Quan Deng
    • 3
  1. 1.College of Mechanical EngineeringTianjin University of Technology and EducationTianjinChina
  2. 2.College of Information Technology EngineeringTianjin University of Technology and EducationTianjinChina
  3. 3.State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbinChina

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