Self-reconfiguring hexapod robot OSCAR using organically inspired approaches and innovative robot leg amputation mechanism

In this paper, we present a fully embodied original research done on fault tolerant hexapod robot OSCAR which has the feature to perform self-reconfiguration after some faulty conditions have appeared within its legs. It will physically amputate the faulty legs and further continue with the mission task with the other still healthy legs. The research encompasses synergy of three topics: robot fault or anomaly detection, robot spatial leg self-reconfiguration, and a novel robot leg mechanical amputation mechanism for jointed leg walking robots. The robot anomaly detection and robot self-reconfiguration are intrinsically inspired by processes observed within biological systems, and the robot leg amputation mechanism is robustly designed to perform robot leg amputations within the legged hexapod robot.