Modeling and Simulation of a Near Omni-Directional Hexapod Robot

  • D. Mahata
  • Ranjit Ray
  • Sankar Nath Shome
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


The present paper describes design and modelling aspects of a near omni-directional legged-wheel robot. While discussing the importance of twin frame legged robots with wheels in mobile robotic research, the basic geometrical configuration of the system was presented. The kinematic and dynamic analysis of the system facilitated improved overall design of the robot. Results of virtual simulation of the movement of this hybrid legged wheel system are also presented. An experimental lab-scale prototype has been developed and simulation results are compared with the test results to ascertain the technical feasibility of geometric model with respect to the mobility on different terrains.


Bottom Plate Gait Pattern Home Position Hexapod Robot Bottom Frame 
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Copyright information

© Springer India 2016

Authors and Affiliations

  1. 1.School of Mechanical & Building SciencesVellore Institute of TechnologyVelloreIndia
  2. 2.Robotics & Automation LabCSIR-CMERIDurgapurIndia

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