This paper discusses the design and implementation of a Genetic Algorithm for the generation of gaits compensating for system damage on the joint level of a hexapod system. The hexapod base used for this algorithm consists of six three degree of freedom legs on a rectangular body. The purpose of this algorithm is to generate a gait such that when N motors become inoperable, as detected by the robot’s internal software, the system is able to continue moving about its environment. While algorithms like this have been implemented before, the generated gaits are a sequence of discrete foot positions. This work aims to generate continuous motions profiles for each joint of the leg rather than discrete foot positions. Previous works commonly disable an entire leg when damage occurs, instead this work aims to disable only individual joint motors.

Library of Congress Subject Headings

Robots--Motion--Data processing; Robots--Automatic control; Genetic algorithms

Publication Date


Document Type


Student Type


Degree Name

Electrical Engineering (MS)

Department, Program, or Center

Electrical Engineering (KGCOE)


Ferat Sahin

Advisor/Committee Member

Jamison Heard

Advisor/Committee Member

Gill Tsouri


RIT – Main Campus

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