{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,18]],"date-time":"2026-08-18T05:04:18Z","timestamp":1787029458452,"version":"build-2736575974"},"reference-count":38,"publisher":"MDPI AG","issue":"4","license":[{"start":{"date-parts":[[2017,12,14]],"date-time":"2017-12-14T00:00:00Z","timestamp":1513209600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Hexapod walking robots have been widely addressed in the literature with a very large number of design and engineering solutions. However, specific design approaches and solutions are needed to cope with specific novel applications. This paper aims to address the design of a hexapod walking robot having exploration, architectonic survey, and maintenance of cultural heritage goods as its main application tasks. This specific case of study is addressed by carrying out a detailed design, which led to the construction of a novel hexapod walking robot, named Cassino Hexapod III. The proposed robot is composed of hybrid legs of a modular anthropomorphic architecture with omni-wheels as feet at its extremity. The proposed design and engineering solutions can overcome the limits of other existing prototypes and to fulfil the specific application requirements and constraints with a cost-effective and user-friendly solution. The proposed novel solutions have also originated an Italian patent No. 102014902238772.<\/jats:p>","DOI":"10.3390\/robotics6040040","type":"journal-article","created":{"date-parts":[[2017,12,14]],"date-time":"2017-12-14T12:35:45Z","timestamp":1513254945000},"page":"40","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["Design of a Novel Leg-Wheel Hexapod Walking Robot"],"prefix":"10.3390","volume":"6","author":[{"given":"Franco","family":"Tedeschi","sequence":"first","affiliation":[{"name":"Department of Civil and Mechanical Engineering, University of Cassino and South Latium, Via di Biasio 43, 03043 Cassino, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0831-8358","authenticated-orcid":false,"given":"Giuseppe","family":"Carbone","sequence":"additional","affiliation":[{"name":"Department of Civil and Mechanical Engineering, University of Cassino and South Latium, Via di Biasio 43, 03043 Cassino, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2017,12,14]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"181","DOI":"10.3390\/robotics3020181","article-title":"Design issues for hexapod walking robots","volume":"3","author":"Tedeschi","year":"2014","journal-title":"Robotics"},{"key":"ref_2","unstructured":"Zdesar, G.K.A., Blazic, S., and Skrjanc, I. 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