Design and Validation of an AB/AD-Enabled RHex-Style Robot

This paper presents an enhanced RHex-style hexapod robot with integrated abduction/adduction (AB/AD) mechanisms. The design features structural modifications and lightweighting of both legs and body to maintain strength without sacrificing performance. Analysis confirms high safety margins, and experiments show that control reliably manages leg trajectories, even under real-time noise. The results demonstrate a robust and adaptable platform suitable for future improvements and broader applications.