Cassino Hexapod : Experiences and new leg design

Abstract

Many different designs for the walking machines exist, some of them are based on wheels and another type of walking machines have anthropomorphic legs. A third kind of walking machine, which has both wheels and legs, is called as a hybrid. The hybrid robots are efficient for all kinds of environments. A low cost hexapod robot prototype with legs and wheels has been developed at LARM in Cassino and named as Cassino Hexapod. In this paper we are described experimental tests on one leg of the Cassino Hexapod and also the obtained results are presented as referring to design a new leg for hexapod robot, numerical results and laboratory tests.