Next Article in Journal
A Brief Theoretical Analysis on the Ventilation Characteristics of the Multi-Intake-Well Air Supply System in a Spillway Tunnel
Next Article in Special Issue
Area-Efficient FFT Kernel with Improved Use of GI for Multistandard MIMO-OFDM Applications
Previous Article in Journal
Seismic Retrofit of Steel Truss Bridge Using Buckling Restrained Damper
Previous Article in Special Issue
Heating, Ventilation, and Air Conditioning System Optimization Control Strategy Involving Fan Coil Unit Temperature Control
Article Menu

Export Article

Open AccessArticle

The Design and Building of a Hexapod Robot with Biomimetic Legs

School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, Ganzhou 341000, China
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(14), 2792;
Received: 1 June 2019 / Revised: 3 July 2019 / Accepted: 9 July 2019 / Published: 11 July 2019
(This article belongs to the Special Issue Selected Papers from IEEE ICASI 2019)
PDF [19020 KB, uploaded 16 July 2019]


A hexapod robot with biomimetic legs was built to implement a distributed control system, where a mechanism is proposed to serve as the central pattern generator and a computer to act as the brain-stem, cooperating with the central pattern generator through wireless communication. The proposed mechanism is composed of two modules, i.e., the tripod gait generator and the Theo Jansen Linkage. The tripod gait generator is a device that uses a single motor to generate a tripod gait, while the Theo Jansen Linkage rhythmically executes the legged motion. In a sense, we are trying to implement the locomotion of a robot by means of a hybrid computational system, including the mechanism part and the electronic processors part. The complex mathematical function of the foot movement is realized by the ensemble of links of the Theo Jansen Linkage, so as to alleviate the computational burden. Besides, the proposed design, based on non-collocated actuators, is intended to minimize the number of actuators while reducing the building cost of the robot. View Full-Text
Keywords: central pattern generator; Theo Jansen Linkage; non-collocated actuators central pattern generator; Theo Jansen Linkage; non-collocated actuators

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

Share & Cite This Article

MDPI and ACS Style

Hwang, M.-C.; Liu, F.; Yang, J.; Lin, Y. The Design and Building of a Hexapod Robot with Biomimetic Legs. Appl. Sci. 2019, 9, 2792.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Appl. Sci. EISSN 2076-3417 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top