Fault-tolerant gait for Hexapod Robots with partial active joints locked
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Parallel kinematics can increase stiffness by up to 3.5 times in coupled systems.
“Parallel kinematics can increase stiffness by up to 3.5 times in coupled systems [36]”
From Hybrid Fault-Tolerant Control in Cooperative Robotics: Advances in Resilience and Scalability (2025) · cites this paper as [36]
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Hybrid Fault-Tolerant Control in Cooperative Robotics: Advances in Resilience and Scalability
Urrea, C. (2025) · Actuators · doi:10.3390/act14040177 · Cited by 19 · see citing works
“…materials [20], artificial tendons lower power consumption in agriculture [46], arachnid mechanisms maintain capacity with a six-leg configuration [36], and tensegrity structures with a 0.5 stiffness ratio reduce down-time in farming [14], with potential for energy harvesting via piezoelectric…”
InfluentialHussein, R. M., Hadi, A. S., Hasan, S. F., Al-Haddad, L. A., Harrabi, R., Flah, A., & Sahib, I. A. A. (2025) · Scientific Reports · doi:10.1038/s41598-025-19449-x · Cited by 12 · see citing works
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Yang, Z., Xu, Z., & Ren, Q. (2026) · Chinese Control and Decision Conference (CCDC) · doi:10.1109/ccdc69976.2026.11560188
Jiao, X., Song, F., & Zhou, J. (2026) · International Conference on Embodied Intelligence, Robotics, and Control Systems (EIRCS) · doi:10.1109/eircs70783.2026.11706456
Meta reinforcement learning for robust quadruped locomotion under joint failures
Wu, L., Chow, C., Wong, W. R., Chuah, J. H., Kanesan, J., & Zhang, M. (2026) · PLoS ONE · doi:10.1371/journal.pone.0361099
- Authors
- Xi, Q., Chen, Z., Yin, K., Liu, X., & Gao, F.
- Affiliations
- Shanghai Jiao Tong University (CN)
- Corresponding author
- Gao, Feng
- Venue
- Mechanism and Machine Theory
- Publisher
- Elsevier BV
- Published
- 2025-03
- Volume
- 205
- Pages
- 105895
- ISSN
- 0094-114X (ISSN-L)
- OpenAlex
- W4405892619
- Cited by
- 6
- References
- 48
- Citations by year
- 2026: 3 · 2025: 3
- FWCI
- 0.66
- Type
- journal article
- Language
- en
- Open access
- closed
- Licence
- Locations
- Mechanism and Machine Theory (publishedVersion)
- Topics
- Physical Sciences › Engineering › Biomedical Engineering › Robotic Locomotion and Control
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Physical Sciences › Engineering › Biomedical Engineering › Prosthetics and Rehabilitation Robotics
- Keywords
- hexapod robot, legged robots, gait planning, rough terrain locomotion, gait
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