Abstract
This paper discusses the leg design and performance evaluation for a hydraulic hexapod robot COMET-IV. First, we discuss the selection and design guidelines of the leg mechanism. Second, we select a conventional hydraulic arm and re-design it based on the hydrau-static analysis and manipulability analysis. Third, we design the foot mechanism based on the geometrical and mechanical analysis. Finally, we evaluate stability margins of the designed leg mechanism while comparing with other conventional hexapod robots, such as, ASV and SILO6.
