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Robotics 2017, 6(4), 40;

Design of a Novel Leg-Wheel Hexapod Walking Robot

Department of Civil and Mechanical Engineering, University of Cassino and South Latium, Via di Biasio 43, 03043 Cassino, Italy
Author to whom correspondence should be addressed.
Received: 14 September 2017 / Revised: 24 November 2017 / Accepted: 8 December 2017 / Published: 14 December 2017
(This article belongs to the Special Issue Intelligent Systems in Robotics)
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Hexapod walking robots have been widely addressed in the literature with a very large number of design and engineering solutions. However, specific design approaches and solutions are needed to cope with specific novel applications. This paper aims to address the design of a hexapod walking robot having exploration, architectonic survey, and maintenance of cultural heritage goods as its main application tasks. This specific case of study is addressed by carrying out a detailed design, which led to the construction of a novel hexapod walking robot, named Cassino Hexapod III. The proposed robot is composed of hybrid legs of a modular anthropomorphic architecture with omni-wheels as feet at its extremity. The proposed design and engineering solutions can overcome the limits of other existing prototypes and to fulfil the specific application requirements and constraints with a cost-effective and user-friendly solution. The proposed novel solutions have also originated an Italian patent No. 102014902238772. View Full-Text
Keywords: walking hexapod; robot design; design procedure; leg-wheel walking hexapod; robot design; design procedure; leg-wheel

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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).

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Tedeschi, F.; Carbone, G. Design of a Novel Leg-Wheel Hexapod Walking Robot. Robotics 2017, 6, 40.

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