  A vast number of applications for legged robots entail tasks in complex,
dynamic environments. But these environments put legged robots at high risk for
limb damage. This paper presents an empirical study of fault tolerant dynamic
gaits designed for a quadrupedal robot suffering from a single, known "missing"
limb. Preliminary data suggests that the featured gait controller successfully
anchors a previously developed planar monopedal hopping template in the
three-legged spatial machine. This compositional approach offers a useful and
generalizable guide to the development of a wider range of tripedal recovery
gaits for damaged quadrupedal machines.
