Hexapod as a 6dof platform

Hexapod as a mobile 6 dof Stewart platform

The hexapod consists of six legs. Each of the 6 legs has  3 degrees of freedom (3dof) which means that the leg tip can move in 3 orthogonal directions, e.g. (i) x, y, z Cartesian space,or (ii) R, theta, Z cylindrical coordinate space or (iii) phi, theta, R spherical coordinate space, or (iv) an arbitrary 3 dimensional warped coordinate space.
If 3 alternate legs are lifted off the ground, the remaining 3 legs on the ground can be programmed to move the robot body in 6 degree of freedom space, e.g. the body can be translated in the x, y and z directions and rotated about each of these axes, i.e. given motion in the A, B and C axes. In this case the robot body becomes a Stewart platform.
The robot can now be programmed in double tripod gate meaning that the robot walks on 3 alternate legs then walks on the remaining 3 legs. Thus the robot becomes a walking or mobile Stewart platform.