2026
FT-CPG: Learning Central Pattern Generators for Fault-Tolerant Quadruped Locomotion under Multi-Joint Failures
ICRA 2026poster
Quadruped robots used for rescue and exploration are susceptible to various leg failures, where unpredictable joint locking or power loss can pose an immediate risk of falling. Traditional controllers lack fault-tolerant control capabilities in the case of multi-joint concurrent faults, and erroneou…