A Comprehensive Review of Hexapod Robots: Advancements, Challenges, and Applications

Abstract

Hexapod robots, characterized by their six-legged locomotion inspired by the agility of insects, have gained significant attention in robotics research due to their versatility and adaptability in various environments. This review paper presents an in-depth analysis of the state-of-the-art in hexapod robot technology, exploring the evolution of their design, control strategies, locomotion capabilities, and diverse applications. The review begins by tracing the historical development of hexapod robots, from their early inception to recent advancements. It discusses the emergence of hexapod robots as a distinct class of robots and highlights key milestones in their evolution. The paper then delves into the fundamental mechanical design principles used in hexapod robots, examining various leg configurations, joint mechanisms, materials, and kinematic arrangements that have contributed to their enhanced mobility and stability.