Hexapod Robot

Hexapod robots, six-legged robots offering superior stability and maneuverability compared to other legged robots, are a focus of ongoing research aiming to improve their locomotion capabilities in complex terrains. Current research emphasizes developing robust control algorithms, including those based on central pattern generators (CPGs) enhanced by reinforcement learning and kinematic models that account for leg slippage, to achieve natural and adaptable gaits. These advancements are significant for expanding the applications of hexapod robots in challenging environments, such as search and rescue or planetary exploration, and for furthering our understanding of legged locomotion in general.

Papers