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Hexapod Walking Robot for Agricultural field (I) - Mechanism of leg and gait control -

The bio-production of the orchard and the ravine part is done in the inclination ground 
and unleveled land. The hexapod walking robot, which is stabilized in these fields, is suitable 
for many production works. This study had aimed to develop hexapod walking robots for 
agriculture. First of all, a small walking robot was made for trial, to form flexible gait that 
adjusted to unleveled land. A leg of this robot is composed of one prismatic joint that moves to 
body in parallel and two rotational joint. Next, straight advancement and turn gait of this robot 
was formed with genetic algorithms.