several different leg designs were used to improve the robot performance. The fabricated robots are capable of speeds up to 10.6 body lengths per second. This work focuses on the development of models for locomotion at small-scales as well as experimental validation and input back to the model....
A representative hexapod robot, RHex14, was designed to perform the double-tripod gait similar to the gait pattern observed in hexapod insects. This gait pattern allowed inherent locomotion stability. The open-loop controller was further improved by the introduction of Central Pattern Generator (CPG)...
A hexapod platform can be considered as a solution for space missions in which more-established isolators (e.g. viscoelastic mounts) are not adequate to achieve the required high-performance isolation. Nevertheless, these platforms are rarely integrated on a spacecraft due to several drawbacks they...
Robotics researchers used the simulation framework to speed up the process of robot design and control. A representative hexapod robot, RHex14, was designed to perform the double-tripod gait similar to the gait pattern observed in hexapod insects. This gait pattern allowed inherent locomotion stabilit...
However, for human–robot interaction, the high rigidity of the joints in these robots will be very dangerous for the operator due to a large amount of weight of the electric motors. The power-to-weight ratios for the electric actuators are in the order of magnitude of 100 W/kg with ...