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This validated model is novel, described in detail, for it includes in a single study: (a) digital controllers, (b) gearheads and DC motors, (c) 3D kinematics and dynamics of 18 Degree of Freedom (DOF) structure, (d) ground contact for even ground, (e) sensors and battery model. In our model validation: (a) kinematical-, dynamical- and digital controller variables were simultaneously compared, (b) differences of measured and simulated curves were quantified and qualified, (c) unknown model parameters were estimated by comparing real measurements with simulation results and applying adequate optimization procedures. The model validation helps identifying both model's and real robot's imperfections: (a) gearlash of the joints, (b) imperfection of approximate ground contact model, (c) lack of gearhead's internal non-linear friction in the model. Modeling and model validation resulted in more stable robot which performed better than its predecessors in terms of locomotion.<\/jats:p>","DOI":"10.1017\/s0263574715000673","type":"journal-article","created":{"date-parts":[[2015,8,17]],"date-time":"2015-08-17T09:21:54Z","timestamp":1439803314000},"page":"419-462","source":"Crossref","is-referenced-by-count":21,"title":["Model validation of a hexapod walker robot"],"prefix":"10.1017","volume":"35","author":[{"given":"Istv\u00e1n","family":"Kecsk\u00e9s","sequence":"first","affiliation":[]},{"given":"Ervin","family":"Burkus","sequence":"additional","affiliation":[]},{"given":"F\u00fcl\u00f6p","family":"Bazs\u00f3","sequence":"additional","affiliation":[]},{"given":"P\u00e9ter","family":"Odry","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2015,8,17]]},"reference":[{"key":"S0263574715000673_ref36","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-15220-7_17"},{"key":"S0263574715000673_ref50","doi-asserted-by":"crossref","unstructured":"Z. Pap , I. Kecsk\u00e9s , E. Burkus , F. Bazs\u00f3 and P. Odry , \u201cOptimization of the Hexapod Robot Walking by Genetic Algorithm,\u201d IEEE 8th International Symposium on Intelligent Systems and Informatics (SISY), IEEE (2010) pp. 121\u2013126.","DOI":"10.1109\/SISY.2010.5647242"},{"key":"S0263574715000673_ref32","doi-asserted-by":"publisher","DOI":"10.1002\/rob.10118"},{"key":"S0263574715000673_ref39","doi-asserted-by":"crossref","unstructured":"I. Kecsk\u00e9s , L. Sz\u00e9k\u00e1cs , J. C. Fodor and P. Odry , \u201cPso and ga Optimization Methods Comparison on Simulation Model of a Real Hexapod Robot,\u201d EEE 9th International Conference on Computational Cybernetics (ICCC), IEEE (2013) pp. 125\u2013130.","DOI":"10.1109\/ICCCyb.2013.6617574"},{"key":"S0263574715000673_ref31","doi-asserted-by":"crossref","unstructured":"O. Janrathitikarn and L. N. 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Reinstein , \u201cRobust Data Fusion of Multimodal Sensory Information for Mobile Robots,\u201d J. Field Robot. (Early View) (2014).","DOI":"10.1002\/rob.21535"},{"key":"S0263574715000673_ref25","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2007.04.014"},{"key":"S0263574715000673_ref11","doi-asserted-by":"publisher","DOI":"10.5772\/5645"},{"key":"S0263574715000673_ref19","doi-asserted-by":"crossref","unstructured":"X. Ding , Z. Wang , A. Rovetta and J. M. Zhu , \u201cLocomotion Analysis of Hexapod Robot,\u201d Climbing and Walking Robots (2010) pp. 291\u2013310.","DOI":"10.5772\/8822"},{"key":"S0263574715000673_ref37","doi-asserted-by":"crossref","unstructured":"I. Kecskes and P. Odry , \u201cSimple Definition of Adequate Fixed Time-Step Size of Szabad (ka)-ii robot model,\u201d IEEE 9th International Conference on Computational Cybernetics (ICCC), IEEE (2013) pp. 315\u2013320.","DOI":"10.1109\/ICCCyb.2013.6617610"},{"key":"S0263574715000673_ref63","unstructured":"J. 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