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(A) Photo of the hexapod walking robot in the laboratory test track. The robot has six legs, each comprising three Dynamixel AX-12 servomotors; however, only the body-coxa and coxa-femur servomotors are controlled in experiments presented in this work. The servomotors also provide the joint angle measurement, which is further processed into swing stop and ground contact events for each leg. (B) Leg schema.
