Fig. 13

Mechanism of wheel-spider-inspired hexapod robot. The robot has the legs assembled equiangularly, as shown in (a). The robot can hence perform rolling locomotion by moving its legs in a regular pattern. The robot has two motors on each leg and hence can move its legs forward and backward and up and down. The legs are composed of the supporting columnar linkage and two linkage connecting it with the body, as shown in (b). The legs move up and down and inside and outside with keeping the side of each leg parallel to the side of the body