• Kenzo Nonami
  • Ranjit Kumar Barai
  • Addie Irawan
  • Mohd Razali Daud
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 66)


Legs have evolved as a means of propulsion of the body of animals and insects through millions of years of evolution that enabled them for terrain adaptive locomotion on any part of the earth’s land surface. Inspired from the observed advantages in locomotion of legged creatures in the biological world, scientists and engineers are applying the principles of biomechanics and bio-intelligence for the design of legged robots. Modern legged robotics research although biologically inspired, it is not yet possible to replicate completely the biological systems for design and implement a walking robot. This is due to the fact that the biological actuation, sensing, and reasoning principles and mechanisms are completely different from the current engineering principles and mechanisms of the actuation, sensing, and computer systems. Among various types of legged robots, hexapod walking robots offer good amount of static stability margin and locomotion speed, and at the same time they are fault tolerant. Therefore, hexapod walking robots have emerged as a popular robotic system for various critical and hazardous field applications. This chapter covers various theoretical and practical aspects of legged locomotion and also introduces many popular and successfully implemented legged robots around the world.


Mobile Robot Rough Terrain Robot Body Walking Robot Hexapod Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Japan 2014

Authors and Affiliations

  • Kenzo Nonami
    • 1
  • Ranjit Kumar Barai
    • 2
  • Addie Irawan
    • 3
  • Mohd Razali Daud
    • 3
  1. 1.Department of Mechanical Engineering Division of Artificial Systems Science Graduate School of EngineeringChiba UniversityChibaJapan
  2. 2.Department of Electrical EngineeringJadavpur UniversityKolkataIndia
  3. 3.Faculty of Electrical and Electronics Engineering Robotics and Unmanned Systems (RUS) groupUniversiti Malaysia PahangPahangMalaysia

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