Hydraulically actuated hexapod robots: design, implementation and control

摘要

The locomotion system of a mobile robot determines not only its mobility, but also its applicability, controllability, and even behavior. It is clear that the most popular approach of wheels becomes unsuitable in several challenging situations (steep slopes, stairs, and so on). In this regard, legged locomotion comprises a proper solution. This book is framed within the field of walking robots, particularly hexapod robots. This mechanical configuration takes advantage of a good static stability margin and a proper locomotion speed, and constitutes a clear fault-tolerant system. From the very beginning, the authors focus on practical issues of hexapod robots with a clear motivation for real experiences in real applications. This is a worthy point in favor of the book, not only from an engineering point of view but also because the reading becomes more interesting.