This paper encompasses a study on the development of a walking gait for fault tolerant locomotion in unstructured environments. The fault tolerant gait for adaptive locomotion fulfills stability conditions in opposition to a fault (locked joints or sensor failure) event preventing a robot to realize stable locomotion over uneven terrains. To accomplish this feat. a fault tolerant gait... https://fitnessgravesyardes.shop/product-category/alternator-controller/