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Robotics 2014, 3(2), 181-206;

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)
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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. View Full-Text
Keywords: hexapod robots; walking machines; design procedure hexapod robots; walking machines; design procedure

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

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