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Traditional mobile robots are mainly divided into wheeled robots and legged robots. They have good performance at fast-moving speeds and crossing obstacles, and weak terrain adaptability and moving speeds, respectively. Combining the advantages of these two types mentioned, a multi-functional wheel-legged hexapod robot with strong climbing capacity was designed in this paper. Each wheel-leg of the robot is driven directly by a single motor and can move smoothly and quickly in a diagonal tripoddoi:10.3390/biomimetics7040146 pmid:36278703 fatcat:pzg4viqn4nhyjm4dnmnbpwhtnu