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Design of Hexapod Walking Robots: Background and Challenges

Design of Hexapod Walking Robots: Background and Challenges

Franco Tedeschi, Giuseppe Carbone
Copyright: © 2015 |Pages: 40
ISBN13: 9781466673878|ISBN10: 1466673877|EISBN13: 9781466673885
DOI: 10.4018/978-1-4666-7387-8.ch018
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MLA

Tedeschi, Franco, and Giuseppe Carbone. "Design of Hexapod Walking Robots: Background and Challenges." Handbook of Research on Advancements in Robotics and Mechatronics, edited by Maki K. Habib, IGI Global, 2015, pp. 527-566. https://doi.org/10.4018/978-1-4666-7387-8.ch018

APA

Tedeschi, F. & Carbone, G. (2015). Design of Hexapod Walking Robots: Background and Challenges. In M. Habib (Ed.), Handbook of Research on Advancements in Robotics and Mechatronics (pp. 527-566). IGI Global. https://doi.org/10.4018/978-1-4666-7387-8.ch018

Chicago

Tedeschi, Franco, and Giuseppe Carbone. "Design of Hexapod Walking Robots: Background and Challenges." In Handbook of Research on Advancements in Robotics and Mechatronics, edited by Maki K. Habib, 527-566. Hershey, PA: IGI Global, 2015. https://doi.org/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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