Design of a robot that walks in any direction

Abstract

In this article the design of a six-legged walking robot is presented. The design consists of two triangular body halves joined by actuators. Each body half has three legs attached to it. By shifting one of the halves with respect to the other the robot can walk in any direction. The design of the robot is explained in detail and a final prototype is presented. © 1998 John Wiley & Sons, Inc. 15: 75–83, 1998