TY  - JOUR
T1  - Simulation and Implementation of a Hexapod Configuration Using
Modular Robotics
AU - Castillo, Ricardo AU - Cotera, Mateo AU - Vargas, German 
JO  - Research Journal of Applied Sciences
VL  - 13
IS  - 10
SP  - 603
EP  - 609
PY  - 2018
DA  - 2001/08/19
SN  - 1815-932x
DO  - rjasci.2018.603.609
UR  - https://makhillpublications.co/view-article.php?doi=rjasci.2018.603.609
KW  - Modular robotics
KW  -hexapod configuration
KW  -Webots
KW  -MECABOT
KW  -Webots IDE
KW  -locomotion tests
AB  - 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.
ER  -