Experiences on a Hybrid Locomotion Approach to Overcome Obstacles with Cassino Hexapod III

  • Ernesto Christian Orozco Magdaleno
  • Giuseppe CarboneEmail author
  • Eduardo Castillo Castañeda
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 68)


This paper describes the Cassino Hexapod III, a hybrid omniwheeled-legged hexapod robot, which has been designed and built at LARM in Cassino. Hybrid locomotion of the robot is simulated in a MATLAB environment. Namely, four different paths are simulated as a strategy for overcoming small obstacles. The implementation of the proposed path planning is achieved by using an Arduino script in combination with a specifically developed Android interface. Experimental tests are carried out to demonstrate the engineering feasibility and effectiveness of the proposed paths for overcoming obstacles with Cassino Hexapod III.


Hexapod walking robots Experimental robotics Hybrid locomotion Tests 



The first author wishes to thank CONAYCT and ACRI association for grants which supported him for period of study at LARM in Cassino within 2017 and 2018, respectively.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Ernesto Christian Orozco Magdaleno
    • 1
  • Giuseppe Carbone
    • 2
    Email author
  • Eduardo Castillo Castañeda
    • 1
  1. 1.National Polytechnic InstituteQueretaroMexico
  2. 2.University of Cassino and South LatiumCassinoItaly

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