#$%^&*AU2019101132A420191031.pdf#####Abstract A wheel foot integration hexapod robot is designed as a hexapod robot with two parts through learning from structure and design of insects. As a result, it can be able to achieve more acts including raising head and turning head, and have more adaptations to rugged surface. Also, its front part is mounted with a camera with two DOF, which can easily get screen information from all angles. Moreover, we design the wheel-foot integration moving system, which is achieved by the screws that connect the eccentric wheels to the body. When faced with rugged surfaces, the screw will lift up the wheels and increase the eccentric distance, which make it easier for our robot to move in complex environment. On the contrary, the screw will lower the robot body and let the robot run more smoothly and faster on flat surface. As for turning, we use the Matlab to control the robot in V-rep and achieve the accurate quarter turn. In the final test of our robot model on V-rep, it can climb obstacles 20% higher than itself and show good flexibility in variable environment. 1Figure.1 Figure.2 1
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