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A Hexapod Robot with Non-Collocated Actuators

School of Electrical Engineering and Automation, Jiangxi University of Science and Technology, No. 86, Hongqi Road, Ganzhou 341000, China
Author to whom correspondence should be addressed.
Appl. Syst. Innov. 2018, 1(3), 20;
Received: 8 April 2018 / Revised: 25 May 2018 / Accepted: 12 June 2018 / Published: 25 June 2018
(This article belongs to the Special Issue Selected papers from IEEE ICASI 2018)
PDF [6909 KB, uploaded 25 June 2018]


The primary issue in developing hexapod robots is generating legged motion without tumbling. However, when the hexapod is designed with collocated actuators, where each joint is directly mounted with an actuator, the number of actuators is usually high. The adverse effects of using a great number of actuators include the rise in the challenge of algorithms to control legged motion, the decline in loading capacity, and the increase in the cost of construction. In order to alleviate these problems, we propose a hexapod robot design with non-collocated actuators which is achieved through mechanisms. This hexapod robot is reliable and robust which, because of its mechanism-generated (as opposed to computer-generated) tripod gaits, is always is statically stable, even if running out of battery or due to electronic failure. View Full-Text
Keywords: hexapod; mechanism; non-collocated hexapod; mechanism; non-collocated

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Hwang, M.-C.; Huang, C.-J.; Liu, F. A Hexapod Robot with Non-Collocated Actuators. Appl. Syst. Innov. 2018, 1, 20.

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