Abstract
The purpose of this paper is to introduce the Hex-A-Ball (HAB), a robot capable of hybridizing walking and rolling locomotion for improved adaptability, velocity, efficiency, and range of operation. The HAB is a hexapod robot with a spherical exoskeleton which uses its legs and a minimal set of actuators for both walking and rolling locomotion. This paper discusses the mechanical design of the HAB, and walking and rolling locomotion strategies.
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© 2006 Springer-Verlag Berlin Heidelberg
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Phipps, C., Minor, M. (2006). Introducing the Hex-a-ball, a Hybrid Locomotion Terrain Adaptive Walking and Rolling Robot. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_63
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DOI: https://doi.org/10.1007/3-540-26415-9_63
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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