文章基本信息

标题：Design of a Novel Leg-Wheel Hexapod Walking Robot
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作者：Franco Tedeschi
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2017
卷号：6
期号：4
页码：40
DOI：10.3390/robotics6040040
语种：English
出版社：MDPI Publishing
摘要：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 application tasks. This specific case of study is addressed by carrying out a detailed design, which led to the construction of a novel hexapod walking robot, named Cassino Hexapod III. The proposed robot is composed of hybrid legs of a modular anthropomorphic architecture with omni-wheels as feet at its extremity. The proposed design and engineering solutions can overcome the limits of other existing prototypes and to fulfil the specific application requirements and constraints with a cost-effective and user-friendly solution. The proposed novel solutions have also originated an Italian patent No. 102014902238772.
关键词：walking hexapod; robot design; design procedure; leg-wheel walking hexapod ; robot design ; design procedure ; leg-wheel