Skip to main content

A Six-Legged Walking Robot Inspired by Insect Locomotion

  • Conference paper
Intelligent Robotics and Applications (ICIRA 2013)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8103))

Included in the following conference series:


In this paper, a six-legged walking robot inspired by insect locomotion is discussed. To implement the walking pattern of insects, four-bar linkage based structure is proposed and its performance is analyzed by kinematic simulation. Two servomotors are applied to left and right sides of the robot, which allows smooth turns and a natural walking pattern by the phase difference between two motors. The main structure of the robot is manufactured by a rapid prototyping method with polypropylene material, and a micro camera is installed for real-time video transmission to show its potential applications.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Subscribe and save

Springer+ Basic
EUR 32.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others


  1. Raibert, M.H.: Legged robots that balance. MIT Press, Cambridge (1986)

    Google Scholar 

  2. Nelson, G.M., Quinn, R.D., Bachmann, R.J., Flannigan, W.C., Ritzmann, R.E., Watson, J.T.: Design and Simulation of a Cockroach-like Hexapod Robot. In: IEEE ICRA Proceedings, pp. 1106–1111 (1997)

    Google Scholar 

  3. Cruse, H., Dean, J., Muller, U., Schmitz, J.: The stick insect as a walking robot. In: Proceeding of the 5th International Conference on Advanced Robotics, pp. 936–940 (1991)

    Google Scholar 

  4. Reinhardt, L., Weihmann, T., Blickhan, R.: Dynamics and kinematics of ant locomotion: do wood ants climb on level surfaces? J. Exp. Biol. 2426–2435 (2009)

    Google Scholar 

  5. Hoover, A.M., Steltz, E., Fearing, R.S.: RoACH: An autonomous 2.4g crawling hexapod robot. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 26–33 (2008)

    Google Scholar 

  6. Kim, S., Clark, J.E., Cutkosky, M.R.: iSprawl: Autonomy, and the Effects of Power Transmission. In: Climbing and Walking Robots, pp. 859–867 (2005)

    Google Scholar 

Download references

Author information

Authors and Affiliations


Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2013 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Jung, Y., Bae, J. (2013). A Six-Legged Walking Robot Inspired by Insect Locomotion. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg.

Download citation

  • DOI:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40848-9

  • Online ISBN: 978-3-642-40849-6

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics