Affordable Multi-legged Robots for Research and STEM Education: A Case Study of Design and Technological Aspects

  • Dominik Belter
  • Piotr Skrzypczyński
  • Krzysztof Walas
  • Donald Wlodkowic
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 351)


As much interest in various aspects of legged locomotion arose in the robotics community over the last decade, many custom design walking robots have been demonstrated. However, they are usually very complicated and expensive. Thus, in this paper we present two families of small-to-medium size legged robots, that share the same basic concepts of using inexpensive, off-the-shelf servos as actuators, and the idea of making the mechanical design technologically simple. Although developed with a similar idea in mind, these robots differ with respect to many design choices and the manufacturing technology. In this paper we try to asses critically those differences, formulating some guidelines for future designs.


legged robot hexapod design methodology 3D printing 


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Dominik Belter
    • 1
  • Piotr Skrzypczyński
    • 1
  • Krzysztof Walas
    • 1
  • Donald Wlodkowic
    • 2
    • 3
  1. 1.Institute of Control and Information EngineeringPoznań University of TechnologyPoznańPoland
  2. 2.School of Applied SciencesRMIT UniversityBundooraAustralia
  3. 3.Faculty of Machines and TransportationPoznań University of TechnologyPoznańPoland

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