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TEDESCHI, Franco and CARBONE, Giuseppe (2014). Design Issues for Hexapod Walking Robots. Robotics, 3 (2), 181-206.
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Carbone design issues for hexapod walking robots.pdf - Published Version Creative Commons Attribution. Download (1MB) | Preview |
Abstract
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.
| Item Type: | Article |
|---|---|
| Research Institute, Centre or Group - Does NOT include content added after October 2018: | Materials and Engineering Research Institute > Centre for Automation and Robotics Research > Sheaf Solutions |
| Identification Number: | https://doi.org/10.3390/robotics3020181 |
| Page Range: | 181-206 |
| Depositing User: | Helen Garner |
| Date Deposited: | 22 Dec 2016 15:08 |
| Last Modified: | 18 Mar 2021 06:04 |
| URI: | https://shura.shu.ac.uk/id/eprint/14366 |
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