Modeling and Analysis of a Spatial Compliant Hexapod

In recent years, there has been increasing interest in legged locomotion, primarily due to the realization that wheeled locomotion has inherent limitations on unstructured environments. The use of legs, adopted by many animals and insects who need to locomote over a wide range of di erent terrain conditions, seems to be the most natural and e ective solution to the problem. In this context, we believe that the analysis and understanding of the principles behind legged locomotion, followed by experimental veri cation of the results is essential.