Limb-Loss Recovery Gaits and Their Energetic Cost

This work addresses the challenge of fault recovery from limb-loss by employing novel dynamical gaits. We demonstrate empirically a stable tripedal dynamic gait on the Ghost Robotics Minitaur platform. This pronking gait achieves comparable speeds to those on the intact quadrupedal machine. In consequence, despite substantially higher energetic expenditure per stride, it’s CoT is reduced by \(\sim \) 10%–15% relative to that of its slower quasi-static tripedal walking alternative.