Isolation of spacecraft microvibrations is essential for the successful deployment instruments relying on high-precision pointing. Hexapod platforms represent a promising solution, but difficulties associated with attaining desirable 3D dynamics within acceptable mass and complexity budgets have led to minimal practical adoption. This paper addresses influence strut boundary conditions (BCs) sy...

The Remipedia are enigmatic crustaceans from anchialine cave systems, first described only 30 years ago, whose phylogenetic affinities are as yet unresolved. Here we report the sequence of hemocyanin from Speleonectes tulumensis Yager, 1987 (Remipedia, Speleonectidae). This is the first proof of the presence of this type of respiratory protein in a crustacean taxon other than Malacostraca. Spel...

This paper presents a combination of transverse and trot walking pattern technique for hexa-quad robot after transformation to optimize the multi-legged robot operation and walking performances. Due to the limitation on the stability of hexapod robot, the combination of hexa-quad walking sequence is proposed to stabilize the quadruped configuration and walking modes. Quadruped robot configurati...

Robot berkaki telah mengalami perkembangan pada saat sekarang ini. Mulai dari robot dua ( biped ), empat quadruped ) sampai enam hexapod ). yang ada masih lambat pergerakannya dan belum pengendaliannya. Perancangan pergerakan cepat serta pengendalian dengan internet of things (IoT) merupakan tujuan penelitian Metodologi digunakan adalah pemodelan perancangan menggunakan mikrokontroller arduino ...

The cover image is based on the Research Article Q-Whex: A simple and highly mobile quasi-wheeled hexapod robot by Guoteng Zhang et al., https://doi.org/10.1002/rob.22186

As a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. An experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. The kinematic and gait analysis formulations are demonstrated by an e...

A bioinspired locomotion system for a quadruped robot is presented. Locomotion is achieved by a spiking neural network (SNN) that acts as a Central Pattern Generator (CPG) producing different locomotion patterns represented by their raster plots. To generate these patterns, the SNN is configured with specific parameters (synaptic weights and topologies), which were estimated by a metaheuristic ...

Insects and their six-legged relatives (Hexapoda) comprise more than half of all described species and dominate terrestrial and freshwater ecosystems. Understanding the macroevolutionary processes generating this richness requires a historical perspective, but the fossil record of hexapods is patchy and incomplete. Dated molecular phylogenies provide an alternative perspective on divergence tim...

This paper presents a minimum‐time path planning scheme for life‐extending operation of legged robots, illustrated with a six‐legged walking robot (hexapod). The focus of this study is on extending the bearing fatigue life for leg joints. As a typical treatment, the minimum‐time path planning is performed through a bisecting‐plane (BP) algorithm with the co...

In this paper a simple terrain evaluation method for hexapod robot is introduced. This method is based on feet coordinate evaluation when all are on the ground. Depending on the feet coordinate differences the local terrain evaluation is possible. Terrain evaluation is necessary for right gait selection and/or body position correction. For terrain roughness evaluation three planes are plotted: ...