Pushing the Physical Limits: Extreme Quadrupedal Fall Recovery Under Multi-Joint Failures

Abstract

We propose a fault-tolerant framework that redefines recovery criteria, enabling the robot to discover viable asymmetric equilibrium states.

Simulation and Framework

Deployment

N = 0 : No Failures

📍 Healthy
Face->Ground
Back->Ground

🚗 N = 1 : Single Joint

📍 Hip (Front-Left)
Face->Ground
⚡ Power-loss
🔒 Locked
Back->Ground
⚡ Power-loss
🔒 Locked
📍 Thigh (Front-Right)
Face->Ground
⚡ Power-loss
🔒 Locked
Back->Ground
⚡ Power-loss
🔒 Locked
📍 Calf (Rear-Left)
Face->Ground
⚡ Power-loss
🔒 Locked
Back->Ground
⚡ Power-loss
🔒 Locked

🛠️ N = 2 : Double Joints

📍 Intra-leg (2 on 1) (Front-Right: Hip,Calf)
⚡ Power-loss
🔒 Locked
🔀 Mixed: Hip Power-loss
📍 Inter-leg: Ipsilateral (Front-Left Hip; Rear-Left Thigh)
⚡ Power-loss
🔒 Locked
🔀 Mixed: Thigh Power-loss
📍 Inter-leg: Diagonal (Front-Left: Calf Rear-Right: Hip)
⚡ Power-loss
🔒 Locked
🔀 Mixed: Calf Power-Loss
📍 Inter-leg: Front/Hind (Rear-Left:Thigh; Rear-Right:Calf)
⚡ Power-loss
🔒 Locked
🔀 Mixed: Calf Power-Loss

💥 N = 3 : Triple Joints

📍 Total Single-leg (3 on 1) (Front-Right)
Power-Loss:Hip, Calf
Face->Ground
Back->Ground
📍 Asymmetric Bi-leg (2+1) (Front-Right:Thigh, Calf; Rear-Left:Hip)
Power-Loss:Hip
Face->Ground
Back->Ground
📍 Tri-distributed (1+1+1) (Front-Right:Hip; Rear-Right:Thigh; Rear-Left:Calf)
Power-Loss:Hip, Thigh
Face->Ground
Back->Ground

Bibtex
Acknowledgements:

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