Ricardo  Castillo, Mateo  Cotera, German  Vargas, 
    Simulation and Implementation of a Hexapod Configuration Using
Modular Robotics,
    Research Journal of Applied Sciences,
    Volume 13,Issue 10,
    2018,
    Pages 603-609,
    ISSN 1815-932x,
    rjasci.2018.603.609,
    (https://makhillpublications.co/view-article.php?doi=rjasci.2018.603.609)
    Abstract: This study details development of a functional hexapod configuration by means of MECABOT
robotic modules, previously designed and built at Universidad Militar Nueva Granada. For this configuration,
the modules received a series of upgrades which allowed reduction of size and weight as well as an increase
in torque. In order to develop control software, Webots IDE was used to simulate workspace characteristics
in a virtual environment. Once the configuration was assembled using the improved modules, locomotion tests
were carried out for forward and lateral motions for which robot speed was measured and compared with
simulation results. Analysis of the divergence between simulated and practical speeds led to a series of design
considerations that will require further evaluation in future research.
    Keywords: Modular robotics;hexapod configuration;Webots;MECABOT;Webots IDE;locomotion tests