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arXiv · 2506.19968

Evolutionary Gait Reconfiguration in Damaged Legged Robots

Sahand Farghdani·Robin Chhabra
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Abstract

Multi-legged robots deployed in complex missions are susceptible to physical damage in their legs, impairing task performance and potentially compromising mission success. This letter presents a rapid, training-free damage recovery algorithm for legged robots subject to partial or complete loss of functional legs. The proposed method first stabilizes locomotion by generating a new gait sequence and subsequently optimally reconfigures leg gaits via a developed differential evolution algorithm to maximize forward progression while minimizing body rotation and lateral drift. The algorithm successfully restores locomotion in a 24-degree-of-freedom hexapod within one hour, demonstrating both high efficiency and robustness to structural damage.

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Sahand Farghdani, Robin Chhabra. 2025-06-24. Evolutionary Gait Reconfiguration in Damaged Legged Robots. https://arxiv.org/abs/2506.19968

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