A tree architecture with hierarchical data processing on a sensor-rich hexapod robot

This paper presents the hardware and software architecture of Golem, a hexapod robot designed as a flexible, scalable, general purpose development and experimenting tool targeted to academia, industry, and defense environments. The system is technologically innovative in its architecture, performance, size and integration, and is industrially promising in its filling the gap between low-performance commercial solutions and costly application-specific proprietary solutions.