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In this study, hybrid hexapod robots with 4 legs and 2 legs/arms were designed and developed. The robot with 26 dof contains 4 actuators in the 4 standard legs and 5 actuators in the 2 reconfigurable legs/arms. In order to obtain a more stable movement in the rough terrain, each leg/arm in robot structure has one prismatic actuation. Two customized legs in this robot structure can be used as arms which may reach and hold objects. The gripper on the customized arm of the robot can carry a load of approximately 350 gr. For the control of this robot, gait analysis, trajectory planning, kinematic modelling, dynamic modeling and quantic polynomial equation were studied. The developed robot was tested in different scenarios and accomplished the desired tasks successfully.
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Ozyalcin et al. (2018) studied this question.
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