Leg Structure Design for Special Hexapod Robot with Climbing Vertical Walls Ability

In order to solve the climbing problem of hexapod robot system, we mainly innovate its leg structure. First of all, shape of feet of the hexapod robot is designed to be a crescent. Compared with the traditional bouncing jump method, the designed hexapod robot can avoid obstacles and climb steps by turning the front foot onto the obstacle and then driving the rear foot. Secondly, the bottom of the foot is equipped with six symmetrically distributed suckers in the outer ring and randomly distributed spikes in the middle. The sucker helps the hexapod robot stabilize on the smooth wall and achieve vacuum adsorption by emptying the gas. Moreover, the retractable spikes are applied to the fixation of the hexapod robot on rough walls, and the internal electromagnet controls the rise and fall of the spikes plate. Simulation results show that our design is successful.