Structure Design and Locomotion Analysis of a Novel Robot for Lunar Exploration

Abstract

Two kinds of hexapod robot, for lunar exploration, are investigated: hexagonal and rectan gular. Typical gaits are analyzed for these two kinds of he xapods' locomotion. A comparative study, based on agility, stability and redundancy, concludes that the robot with hexagonal architecture is better than the rectangular one. Fi nally, simulations are done based on a novel hexagonal lun ar exploration robot.