Fault-tolerant gaits in robot’s locomotion are defined as gaits with which legged robot can continue their walking after a failure event occurs to a leg of the robot. This means that for a given type of failure, the problem of finding fault-tolerant gaits can be formulated with which legged robots can continue their walking after an occurrence of a failure, maintaining static stability. The considered failure is a locked joint failure which prevents a joint of a leg from moving and makes it locked in a known place. This paper presents a strategy for generating fault tolerant locomotion of a quadruped robot. The failure considered in this paper is a locked joint failure. The kinematic condition of fault tolerant locomotion is derived for straight line walking of quadruped robot on even terrain. An algorithm for fault tolerant locomotion in straight line is described.