Gait Generation for Damaged Hexapods using a Genetic Algorithm

This paper discusses the design and implementation of a Genetic Algorithm for the generation of gaits compensating for system damage on the joint level of a hexapod system. The hexapod base used for this algorithm consists of six three degree of freedom legs on a rectangular body. The purpose of this algorithm is to generate a gait such that when N motors become inoperable, as detected by the robot’s internal software, the system is able to continue moving about its environment. While algorithms like this have been implemented before, the generated gaits are a sequence of discrete foot positions. This work aims to generate continuous motions profiles for each joint of the leg rather than discrete foot positions. Previous works commonly disable an entire leg when damage occurs, instead this work aims to disable only individual joint motors.