Dynamical modeling and design optimization of a cockroach-inspired hexapod

The main purpose of the present study was to optimize a prototype hexapod robot, called Gregor I, through reverse engineering techniques. The robot is based on experimental observations of the cockroach with regard to mechanical design and the locomotion control strategy. This paper reports on the design phase of a hexapod robot, where the basic geometry of the system is defined through solid modeling and improved through kinematic and dynamic studies, using multi-body software. The dynamic simulation environment made it possible to study the performance of the system under different working conditions. Guidelines for an optimization process of the hexapod structure were drawn from these analyzes, aimed at the improvement of specific characteristics: speed, payload and climbing capabilities. Finally, the robot model and the robot prototype were compared.