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Applied Bionics and Biomechanics
Volume 4, Issue 4, Pages 149-156

Operation Strategy for a Low-Cost Easy-Operation Cassino Hexapod

Giuseppe Carbone,1 Aviral Shrot,2 and Marco Ceccarelli1

1Laboratory of Robotics and Mechatronics, DiMSAT—University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr), Italy
2Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600036, India

Copyright © 2007 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents operation strategies for a hexapod walking machine that has been designed and built at the Laboratory of Robotics and Mechatronics (LARM) at the University of Cassino. Special care has been addressed in proposing and describing a suitable mechanical design and architecture that can be easily operated by a PLC with on–off logic. Experimental tests are reported in order to show feasibility and operational capability of the proposed design.