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Hydraulically Actuated Hexapod Robots

Part of the book series: Intelligent Systems, Control and Automation: Science and Engineering ((ISCA,volume 66))

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Abstract

Legs have evolved as a means of propulsion of the body of animals and insects through millions of years of evolution that enabled them for terrain adaptive locomotion on any part of the earth’s land surface. Inspired from the observed advantages in locomotion of legged creatures in the biological world, scientists and engineers are applying the principles of biomechanics and bio-intelligence for the design of legged robots. Modern legged robotics research although biologically inspired, it is not yet possible to replicate completely the biological systems for design and implement a walking robot. This is due to the fact that the biological actuation, sensing, and reasoning principles and mechanisms are completely different from the current engineering principles and mechanisms of the actuation, sensing, and computer systems. Among various types of legged robots, hexapod walking robots offer good amount of static stability margin and locomotion speed, and at the same time they are fault tolerant. Therefore, hexapod walking robots have emerged as a popular robotic system for various critical and hazardous field applications. This chapter covers various theoretical and practical aspects of legged locomotion and also introduces many popular and successfully implemented legged robots around the world.

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Authors and Affiliations

  1. Department of Mechanical Engineering Division of Artificial Systems Science Graduate School of Engineering, Chiba University, Chiba, Japan

    Kenzo Nonami

  2. Department of Electrical Engineering, Jadavpur University, Kolkata, India

    Ranjit Kumar Barai

  3. Faculty of Electrical and Electronics Engineering Robotics and Unmanned Systems (RUS) group, Universiti Malaysia Pahang, Pahang, Malaysia

    Addie Irawan & Mohd Razali Daud

Authors
  1. Kenzo Nonami
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  2. Ranjit Kumar Barai
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  3. Addie Irawan
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  4. Mohd Razali Daud
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Nonami, K., Barai, R.K., Irawan, A., Daud, M.R. (2014). Introduction. In: Hydraulically Actuated Hexapod Robots. Intelligent Systems, Control and Automation: Science and Engineering, vol 66. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54349-7_1

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  • DOI: https://doi.org/10.1007/978-4-431-54349-7_1

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  • Publisher Name: Springer, Tokyo

  • Print ISBN: 978-4-431-54348-0

  • Online ISBN: 978-4-431-54349-7

  • eBook Packages: EngineeringEngineering (R0)

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