Abstract
Aim of the present work is to design and develop a system of torques generation for a mobile six-legged robot, based on biological inspiration, namely on studies on the stick insect (Carausius morosus). Virtual learning by simulation of kinematics and dynamic is here proposed as test bed of solutions before building the robot. Results confirm the goodness of the evolution learning approach in the design of the hexapod robot, showing good performances very close to nature solutions and efficient in terms of adaptation to environment constraints changes.
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