Structural design and motion study of wheel-footed hexapod robot

Given the increasing demand for robots with advanced environmental adaptability across various fields, this study aims to address the limitations of wheeled robots in traversing rugged terrains and the instability of legged robots on flat surfaces. In order to overcome these challenges, a hexapod robot with variable morphology was designed and developed. This robot possesses both flexibility and stability, enabling it to navigate a wide range of terrains. Through the measurement and analysis of the robot's motion states, the results of different motion scenarios were studied to validate the rationality and feasibility of the hexapod robot's structure. This research provides a foundation for further in-depth studies of this model.