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Fault-tolerant control of a mole cricket-inspired quadruped robot with functional arms under single-leg loss

Yuhe Guo Hu Zhang Yan Zhang Chenxu Lu Xinghua Lin Hao Wang Delei Fang

Advanced Bionics2026，Vol.2Issue(1)：P.33-46,14.

Advanced Bionics2026，Vol.2Issue(1)：P.33-46,14.DOI:10.1016/j.abs.2026.02.001

Fault-tolerant control of a mole cricket-inspired quadruped robot with functional arms under single-leg loss

Yuhe Guo ¹Hu Zhang ²Yan Zhang ¹Chenxu Lu ¹Xinghua Lin ¹Hao Wang ¹Delei Fang¹

作者信息

1. Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry&Food Machinery and Equipment,College of Mechanical Engineering,Tianjin University of Science&Technology,Tianjin 300457,China
2. Tianjin Key Laboratory of Integrated Design and On-line Monitoring for Light Industry&Food Machinery and Equipment,College of Mechanical Engineering,Tianjin University of Science&Technology,Tianjin 300457,China B&H Unmanned Intelligent System Research Institute,Beijing Institute of Technology,Hefei 230000,China
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摘要

关键词

Quadruped Robot·Functional Arm/Compensation-Gait/Optimization-Fault/Tolerance

分类

信息技术与安全科学

引用本文复制引用

Yuhe Guo,Hu Zhang,Yan Zhang,Chenxu Lu,Xinghua Lin,Hao Wang,Delei Fang..Fault-tolerant control of a mole cricket-inspired quadruped robot with functional arms under single-leg loss[J].Advanced Bionics,2026,2(1):P.33-46,14.

基金项目

supported by the National Natural Science Foundation of China(Grant Nos.51405341,62403356,62301360) （Grant Nos.51405341,62403356,62301360）

The Youth Project of Tianjin Natural Science Foundation(No.25JCQNJC01070) （No.25JCQNJC01070）

Tianjin Special Fund for Guiding Technological Innovation(Grant No.25YDTPJC00930)。（Grant No.25YDTPJC00930）

Advanced Bionics

ISSN：2950-3876

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