Basic design of a hexapod walking robot

摘要

Describes a hexapod walking robot which is developed for the purpose of transportation in unstructured environments. The authors propose a power system which consists of a gasoline engine and computer controlled electromagnetic clutches and brakes. This system improves the energy efficiency and realizes proper power distribution to each leg, while walking robots have poor energy efficiency fundamentally due to their walking mechanism. The authors also analyze the relation between the robot's fundamental movement and each joint operation.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>