Abstract
This review article aims to address common research questions in hexapod robotics. How can we build intelligent autonomous hexapod robots that can exploit their biomechanics, morphology, and computational systems, to achieve autonomy, adaptability, and energy efficiency comparable to small living creatures, such as insects? Are insects good models for building such intelligent hexapod robots because they are the only animals with six legs? This review article is divided into three main sections to address these questions, as well as to assist roboticists in identifying relevant and future directions in the field of hexapod robotics over the next decade. After an introduction in section (1), the sections will respectively cover the following three key areas: (2) biomechanics focused on the design of smart legs; (3) locomotion control; and (4) high-level cognition control. These interconnected and interdependent areas are all crucial to improving the level of performance of hexapod robotics in terms of energy efficiency, terrain adaptability, autonomy, and operational range. We will also discuss how the next generation of bioroboticists will be able to transfer knowledge from biology to robotics and vice versa.
Highlights
Legged robots represent a unique opportunity to understand locomotion in the animal kingdom [1,2]
Biomechanics are at the heart of the biomimetic embodiment of a hexapod robot (Figure 1a) because legs are constrained by mechanical stress when they are in contact with the ground, and they have to follow various locomotion patterns dictated by the locomotion control system (Figure 1b)
Over the last ten years, the booming use of 3D printing has significantly boosted the development of brand new mechatronic designs for hexapod robots
Summary
Legged robots represent a unique opportunity to understand locomotion in the animal kingdom [1,2]. To help researchers to find relevant directions over the decade in the field of hexapod robotics, we will divide this review in three main sections following the logic of Figure 1. An insect’s central nervous system can efficiently combine information from a variety of sensor modalities to achieve interlimb and intralimb coordination, as well as control joint compliance for locomotion in complex terrains and object manipulation Understanding such a control system and implementing it on a hexapod robot are still difficult tasks.
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