Abstract—In a recent past, research activities have been carried out for developing a six-legged robot at LARM: Laboratory of Robotics and Mechatronics in Cassino. The proposed designs have been conceived with the aim of achieving suitable mechanism structures and architectures with low-cost and user-friendly features. Simulations and experimental tests have been developed by referring to a novel leg design in order to characterize both the walking operation and design characteristics for a suitable control strategy. In this work, we propose a control architecture that has been set up by using a proper algorithm based on evolution strategies. Successful simulation results have been reported to validate the proposed control architecture.
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