Next Article in Journal
Towards an Open Software Platform for Field Robots in Precision Agriculture
Next Article in Special Issue
Neural Networks Integrated Circuit for Biomimetics MEMS Microrobot
Previous Article in Journal / Special Issue
Aerodynamic Bio-Mimetics of Gliding Dragonflies for Ultra-Light Flying Robot
Robotics 2014, 3(2), 181-206; doi:10.3390/robotics3020181

Design Issues for Hexapod Walking Robots

Department DICEM, University of Cassino and Southern Lazio, Via di Biasio 43, Cassino 03043 (Fr), Italy
* Author to whom correspondence should be addressed.
Received: 31 March 2014 / Revised: 7 May 2014 / Accepted: 15 May 2014 / Published: 10 June 2014
(This article belongs to the Special Issue Advances in Biomimetic Robotics)
View Full-Text   |   Download PDF [1548 KB, uploaded 10 June 2014]   |   Browse Figures


Hexapod walking robots have attracted considerable attention for several decades. Many studies have been carried out in research centers, universities and industries. However, only in the recent past have efficient walking machines been conceived, designed and built with performances that can be suitable for practical applications. This paper gives an overview of the state of the art on hexapod walking robots by referring both to the early design solutions and the most recent achievements. Careful attention is given to the main design issues and constraints that influence the technical feasibility and operation performance. A design procedure is outlined in order to systematically design a hexapod walking robot. In particular, the proposed design procedure takes into account the main features, such as mechanical structure and leg configuration, actuating and driving systems, payload, motion conditions, and walking gait. A case study is described in order to show the effectiveness and feasibility of the proposed design procedure.
Keywords: hexapod robots; walking machines; design procedure hexapod robots; walking machines; design procedure
This is an open access article distributed under the Creative Commons Attribution License (CC BY) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Share & Cite This Article

Further Mendeley | CiteULike
Export to BibTeX |
EndNote |
MDPI and ACS Style

Tedeschi, F.; Carbone, G. Design Issues for Hexapod Walking Robots. Robotics 2014, 3, 181-206.

View more citation formats

Related Articles

Article Metrics


[Return to top]
Robotics EISSN 2218-6581 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert