In this paper, a gait transition method has proposed that allows a group of multi-agent hexapod robot to switch from one gait to another gait with stable condition, during different terrain navigation. Typical gaits of locomotion are analyzed for hexapod robot. Hexapod robots frequently operate various gaits to locomote over a variety of surfaces. To enable locomotion in a changing surface, hex...

The capacity of walking in a wide variety of terrains is one of the most important features of hexapod insects. In this paper we describe a bio-inspired controller able to generate locomotion and reproduce the different type of gaits for an hexapod robot. Motor patterns are generated by coupled Central Pattern Generators, formulated as nonlinear oscillators. In order to demonstrate the robustne...

This paper presents the main characteristics of a hexapod robot designed and manufactured by the Centre for Automation and Robotics (CAR) CSIC-UPM, Spain. The main objective of this hexapod walking robot is carry out tasks for localisation of anti-personnel mines, using a scanning manipulator on-board with a metal detector installed on the tool centre point. Previous works done by other hexapod...

By combining static input–output decoupling transformations with hexapod geometric design, the highly coupled dynamics of a flexure jointed hexapod can be decoupled. Several algorithms have been proposed which result in different sets of decoupled inputs and outputs, and which can use a variety of feedback measurements (position, velocity, acceleration, or force in either joint or Cartesian spa...

Nanomaterials with particular nanostructures which usually possess special properties always attract considerable attention. A novel bimetallic Pt/Cu hexapod nanostructure was prepared by a facile one-pot strategy. The formation mechanism was investigated by the time sequential evolution experiments and the hexapod concave nanostructures originated from the Pt/Cu rhombic dodecahedron. Further e...

Generally, it is claimed that hexapod walking robots are superior to others. However, in some conditions hexapod suffers from stability problems. To solve the problem of stability, this paper proposes a new gait model of hexapod robot named offset model and also investigates the effects of morphological factor of hexapod robots on their locomotion. A comparison between the offset model and gene...

A hexapod robot is a robot that has six legs to walk or move. It is well known that a robot can be statically stable on three or more legs. Since a hexapod robot has several legs, it has a great deal of flexibility in how it can move. If some legs become disabled, the robot may still be able to walk. Furthermore, not all of the robot’s legs are needed for stability; other legs are free to reach...

This paper deals with the benefits and drawbacks of hexapods in Wheeled Mobile Driving Simulators. Therefore, a large and a small hexapod are considered and investigated in regard to their potential to reduce power, energy, and workspace demand of a Wheeled Mobile Driving Simulator. This is done by employing the hexapod for representing horizontal acceleration cues. Furthermore, the hexapod may...

Micromanipulation robots are powerful tools to explore and reform the microscope world, but it is difficult integrate high precision, long stroke, strong carrying capability, multi-degree of freedom (DOF) motions in a single robot. To address this challenge, herein bioinspired hexapod piezoelectric robot (PER-hexapod) aiming at high-performance micromanipulation presented. Specifically, two ele...

Hexapod walking robots have been widely addressed in the literature with a very large number of design and engineering solutions. However, specific design approaches and solutions are needed to cope with specific novel applications. This paper aims to address the design of a hexapod walking robot having exploration, architectonic survey, and maintenance of cultural heritage goods as its main ap...