Table of Contents
2.1.Statements of Aims, Objectives, and Motivation
2.3.Advantages of Hexapod over Wheeled Vehicles
2.4.Disadvantages of Hexapod over Wheeled Vehicles
3.Fundamentals of Hexapod Robot
3.1.1.Swing and Stance phases of a Hexapod
3.1.2.Tripod Gait, Wave Gait, Ripple Gait
3.2.Stability of Hexapod Robots
3.3.Kinematics of Hexapod Robot
3.4.1.Dynamic Model of the Leg Mechanism
4.Hierarchical Control Architecture
4.3.2.Stability Detection and Recovery
8.Appendix
8.1.Additional Visuals
8.2.Additional Equations
8.3.MATLAB Code
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Congradulations Canberk well done !