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Automatic robot design for fault-tolerant robots.

Kenta Kikuzumi1, Ryo Ariizumi2, Fumitoshi Matsuno3

  • 1Department of Mechanical Engineering, The University of Tokyo, Tokyo, 153-8505, Japan.

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|August 13, 2025
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Summary
This summary is machine-generated.

This study introduces an automatic robot design method that enhances legged robot fault tolerance. The method trains robots to walk despite joint malfunctions without controller changes, improving performance in unpredictable environments.

Keywords:
Automatic robot designFault tolerant robotReinforcement learning

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Mechanical Engineering

Background:

  • Legged robots require joint malfunction tolerance for extreme environments like extraterrestrial planets.
  • Achieving fault tolerance typically necessitates complex design or rapid fault detection and reconfiguration.

Purpose of the Study:

  • To propose an efficient method for designing legged robots with inherent joint malfunction tolerance.
  • To enhance the learning efficiency of automatic robot design by combining distinct topology update methods.

Main Methods:

  • Utilized an automatic robot design method centered on robot topology updates.
  • Combined two distinct robot topology update methods for improved learning efficiency.
  • Simulated joint malfunctions in a physical environment to test robot performance.

Main Results:

  • The proposed method successfully trained robots to maintain locomotion despite joint failures.
  • Robots demonstrated efficient walking capabilities even with malfunctioning joints.
  • Trained robots performed well in unexperienced situations, indicating robust adaptability.

Conclusions:

  • The developed automatic robot design approach effectively creates legged robots tolerant to joint malfunctions.
  • This method offers a promising solution for robust robot operation in unpredictable and extreme conditions.
  • The combined topology update strategy enhances learning efficiency for fault-tolerant robot design.