{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,30]],"date-time":"2026-07-30T15:24:05Z","timestamp":1785425045009,"version":"3.56.0"},"reference-count":30,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2026,6,9]],"date-time":"2026-06-09T00:00:00Z","timestamp":1780963200000},"content-version":"unspecified","delay-in-days":69,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2026,4]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>\n                    In extreme environments, hexapod robots are highly susceptible to locomotor failure due to leg structure damage or electronic circuit interruptions. Such failures are particularly critical in ipsilateral two-leg loss, where most conventional hexapod designs fail to maintain stability. This paper introduces a hexapod robot platform equipped with a functional arm (FA) and proposes a fault-tolerant strategy based on FA compensation. The FA serves as a task-oriented module under normal conditions and as a compensatory leg during instability caused by leg loss, enabling rapid recovery of stability and walking capacity without complex adjustments to the remaining legs. An optimization algorithm was developed for gait adjustment, using the longitudinal stability margin as the optimization objective with the compensation median angle\n                    <jats:italic>\u03b8<\/jats:italic>\n                    and swing angle\n                    <jats:italic>\u03b1<\/jats:italic>\n                    as key parameters. The optimal compensatory positions of the FA were identified for both the ipsilateral middle-hind leg and front-hind leg failure scenarios. Experimental results demonstrate a marked improvement in both walking stability and capability after FA compensation. For both failure modes, the robot\u2019s attitude fluctuations were significantly suppressed, and the stride length was substantially increased, affirming the feasibility and effectiveness of the proposed approach in enhancing the environmental adaptability of multi-legged robots.\n                  <\/jats:p>","DOI":"10.1017\/s0263574726103488","type":"journal-article","created":{"date-parts":[[2026,6,9]],"date-time":"2026-06-09T10:03:38Z","timestamp":1780999418000},"page":"1161-1178","source":"Crossref","is-referenced-by-count":0,"title":["Functional arm compensation and fault tolerance for a hexapod robot with ipsilateral two-leg failure"],"prefix":"10.1017","volume":"44","author":[{"ORCID":"https:\/\/orcid.org\/0009-0001-2729-987X","authenticated-orcid":false,"given":"Chenxu","family":"Lu","sequence":"first","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018rbtf37","id-type":"ROR","asserted-by":"publisher"}],"name":"Tianjin University of Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hu","family":"Zhang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018rbtf37","id-type":"ROR","asserted-by":"publisher"}],"name":"Tianjin University of Science and Technology"},{"name":"B&H Unmanned Intelligent System Research Institute, Beijing Institute of Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0207-1123","authenticated-orcid":false,"given":"Yan","family":"Zhang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018rbtf37","id-type":"ROR","asserted-by":"publisher"}],"name":"Tianjin University of Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yuhe","family":"Guo","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018rbtf37","id-type":"ROR","asserted-by":"publisher"}],"name":"Tianjin University of Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xinghua","family":"Lin","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018rbtf37","id-type":"ROR","asserted-by":"publisher"}],"name":"Tianjin University of Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hao","family":"Wang","sequence":"additional","affiliation":[{"id":[{"id":"https:\/\/ror.org\/018rbtf37","id-type":"ROR","asserted-by":"publisher"}],"name":"Tianjin University of Science and Technology"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2026,6,9]]},"reference":[{"key":"S0263574726103488_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/3468.747858"},{"key":"S0263574726103488_ref23","doi-asserted-by":"publisher","DOI":"10.1007\/s11431-015-5823-2"},{"key":"S0263574726103488_ref25","doi-asserted-by":"publisher","DOI":"10.1186\/s10033-024-01040-6"},{"key":"S0263574726103488_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3329766"},{"key":"S0263574726103488_ref13","doi-asserted-by":"publisher","DOI":"10.1163\/15685530260182918"},{"key":"S0263574726103488_ref22","doi-asserted-by":"publisher","DOI":"10.1080\/14484846.2024.2395120"},{"key":"S0263574726103488_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2019.03.008"},{"key":"S0263574726103488_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/3477.658585"},{"key":"S0263574726103488_ref30","doi-asserted-by":"publisher","DOI":"10.3901\/CJME.2013.04.771"},{"key":"S0263574726103488_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2017.10.011"},{"key":"S0263574726103488_ref5","first-page":"717","article-title":"Fault-tolerant crab gaits and turning gaits for a hexapod robot","volume":"23","author":"Yang","year":"2005","journal-title":"Robotica"},{"key":"S0263574726103488_ref28","doi-asserted-by":"publisher","DOI":"10.3390\/app10082959"},{"key":"S0263574726103488_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2024.3424328"},{"key":"S0263574726103488_ref6","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-008-9282-x"},{"key":"S0263574726103488_ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s40747-022-00652-6"},{"key":"S0263574726103488_ref12","unstructured":"[12] Paredis, C. J. J. , An Agent-Based Approach to the Design of Rapidly Deployable Fault-Tolerant Manipulators Ph.D. Thesis (Carnegie Mellon University, Pittsburgh, PA, 1996)."},{"key":"S0263574726103488_ref29","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574705001578"},{"key":"S0263574726103488_ref24","doi-asserted-by":"crossref","unstructured":"[24] Tefera, Y. T. , Bianchi, M. , Carbonaro, N. , Tognetti, A. and Dosen, S. , \u201cROBOT TELEOPERATIVO: Collaborative Cybernetic Systems for Immersive Remote Teleoperation,\u201d Proceeding of the IEEE Conference on Telepresence (2024) pp. 1\u20134.","DOI":"10.1109\/Telepresence63209.2024.10841491"},{"key":"S0263574726103488_ref11","doi-asserted-by":"publisher","DOI":"10.1177\/17298806221121070"},{"key":"S0263574726103488_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2681722"},{"key":"S0263574726103488_ref9","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574714001738"},{"key":"S0263574726103488_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/3477.826957"},{"key":"S0263574726103488_ref21","unstructured":"[21] Xu, T. , Cheng, Y. , Shen, P. and Zhao, L. , \u201cAcL: Action Learner for Fault-Tolerant Quadruped Locomotion Control (2025), arXiv preprint arXiv:2503.21401."},{"key":"S0263574726103488_ref15","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-03983-6_29"},{"key":"S0263574726103488_ref10","doi-asserted-by":"crossref","unstructured":"[10] Chen, Z. , Gao, F. , Xi, Q. and Zhao, Y. , \u201cFault-tolerant walking and turning Gait planning for quadruped robots with one locked leg on rough terrains,\u201d International Conference on Mechanism and Machine Science (2022), pp. 1899\u20131917.","DOI":"10.1007\/978-981-19-9398-5_116"},{"key":"S0263574726103488_ref16","doi-asserted-by":"crossref","unstructured":"[16] G\u00f6rner, M. and Hirzinger, G. , \u201cAnalysis and Evaluation of the Stability of a Biologically Inspired, Leg Loss Tolerant Gait for Six- and Eight-Legged Walking Robots,\u201c Proceedings of the IEEE International Conference on Robotics and Automation (2010), pp. 4728\u20134735.","DOI":"10.1109\/ROBOT.2010.5509332"},{"key":"S0263574726103488_ref26","doi-asserted-by":"crossref","unstructured":"[26] Chen, L. , Zhong, G. , Liu, Z. and Deng, H. , \u201cA Novel Hexapod Robot: Design and Mobility Analysis,\u201d International Conference on Mechatronics and Automation (2016).10.1109\/ICMA.2016.7558889","DOI":"10.1109\/ICMA.2016.7558889"},{"key":"S0263574726103488_ref7","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574716000175"},{"key":"S0263574726103488_ref2","unstructured":"[2] Yang, J.-M. and Kim, J.-H. , \u201cA Strategy of Optimal Fault Tolerant Gait for the Hexapod Robot in Crab Walking,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (1998), pp. 1695\u20131700."},{"key":"S0263574726103488_ref19","doi-asserted-by":"crossref","unstructured":"[19] Hou, T. , Tu, J. , Gao, X. , Dong, Z. , Zhai, P. and Zhang, L. , \u201cMulti-Task Learning of Active Fault-Tolerant Controller for Leg Failures in Quadruped Robots,\u201d Proceedings of the IEEE International Conference on Robotics and Automation (2024), pp. 9758\u20139764.","DOI":"10.1109\/ICRA57147.2024.10610151"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574726103488","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,7,28]],"date-time":"2026-07-28T02:59:12Z","timestamp":1785207552000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574726103488\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,4]]},"references-count":30,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2026,4]]}},"alternative-id":["S0263574726103488"],"URL":"https:\/\/doi.org\/10.1017\/s0263574726103488","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2026,4]]}}}