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Design of Hexapod Walking Robots: Background and Challenges

Design of Hexapod Walking Robots: Background and Challenges
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Author(s): Franco Tedeschi (University of Cassino and South Lazio, Italy)and Giuseppe Carbone (University of Cassino and South Lazio, Italy)
Copyright: 2015
Pages: 40
Source title: Handbook of Research on Advancements in Robotics and Mechatronics
Source Author(s)/Editor(s): Maki K. Habib (The American University in Cairo, Egypt)
DOI: 10.4018/978-1-4666-7387-8.ch018

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Abstract

This chapter deals with hexapod walking robot design and operation. The first section gives a wide overview of the state-of-the-art on hexapod walking robots by referring both to early design solutions and to most recent achievements. Section two identifies the main design challenges that influence the technical feasibility and performance of these systems. In section three, a design procedure is proposed. In particular, the proposed design procedure takes into account mechanical structure, leg configuration, actuating and drive mechanisms, payload, motion conditions, walking gait, and control system. A case of study is carefully described as referring to previous experiences at LARM.

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