Force Distribution for a Walking Robot with Articulated Body

  • I. DorofteiEmail author
  • Ghe Plesu
  • B. Stirbu
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 3)


Legged vehicles have attractive capabilities in terms of agility and obstacle avoidance. Also, these platforms are superior for locomotion on soft ground comparing to wheeled or tracked robots, particularly in low gravity. The functional capabilities of a walking robot can be essentially expanded by changing of the body design. It means that climbing over obstacles equal to the geometrical size of the robot could be possible by using a legged platform with articulated body. In this paper, some aspects regarding the force distribution for a hexapod walking robot with articulated body and its active compliance are presented.


Walking robot Kinematics Compliance Support force 



The research work reported here was made possible thanks to our stages to the Mechanical Engineering and Robotics Department, free University of Brussels.


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Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  1. 1.“Gheorghe Asachi” Technical University of IasiIaşiRomania
  2. 2.“Gheorghe Asachi” Technical UniversityIaşiRomania

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