Gumstix® Verdex [GUM09] represented in Figure 3.14 with wireless module and antenna, 2-axis accelerometer and gyroscope, Lith-ium-polymer battery pack, voltage converters for 3, 5, and 6 volts for the electron-ics, and binary sensor contacts (Figure 3.15). In order to decrease the weight of  the robot, some servos from the “Robonova 1” arms have been removed during the robot hardware tuning, and the connection between the segments at those points is made with screws instead. The final S2-HuRo robot appears as seen in Figure 3.13. 3.5   Humanoid Robot Demonstrator - S2-HuRo (Self Stabilizing Humanoid Robot) 21 When comparing the robots shown in Figure 3.12 and Figure 3.13, differences in robot modifications can easily be spotted. By looking at the top view of the ro-bots, the robot (Figure 3.13) (c) the two axis accelerometer sensors can be spotted under the robot’s head. In the backside figures (Figure 3.13) (d) and (e) of the S2-HuRo, the case of the embedded Gumstix® Verdex system can be seen along with the wireless antenna next to the case.  On the robot’s feet Lithium-polymer batteries can be spotted – two batteries per foot. The relatively light weight 5Wh LiION rechargeable batteries used by  S2-HuRo for servo and electronics power supply are the same batteries used by  E-pucks robots [EPU09]. The voltage from the batteries is further down-regulated by integrated voltage convertors to be compatible with the voltage operating range of the servos, Microcontroller AtMega “MRC-3024” board, and the additional electronics. The batteries are located on the robot’s feet so the center of gravity of the robot is lowered and this increases the dynamic stability of the robot.   Fig. 3.15 Schematic view of binary contact sensors by the S2-HuRo feet – bottom.
多足步行和混合机器人示威者
3.1 介绍
两个或者偶数个腿，例如四条腿、优尔条腿或者八条腿的机器人的设计，表明仿生学在机器人研究领域中的特殊作用。依赖于腿的数目，这些机器人平台可以和人体结构联系起来，行走机理，人、四条腿的动物、优尔条腿的昆虫或者八条腿的蜘蛛的行为。还有一个其他种类的被描述为混合机器人的设计，有自然和人造设计的混合特点。这些机器人经常被发现是有轨道、其他特殊的腿部设计、轮子腿部等。在本章讨论一些联合腿部行走和混合的机器人。“联合腿部”组采用的是伺服系统做成的腿，代表着他们的联合。“混合”组采用的是伺服系统和轮子做成的腿。本章中的机器人示范者指出应用于生物激励方式和和算法。这些机器人可以被分为三种类型：人形机器人、爬行机器人和混合轮子腿机器人。论文网

3.2昆虫机器人
爬行机器人属于优尔条腿联合作用，它的腿由复数个伺服机构组成。机器人的腿通常被均匀地分为两组，分别在机器人身体的两侧。爬行机器人的设计经常被认为参考蟑螂和昆虫。
对比四条腿行走的机器人或者四足机器人，爬行机器人显然冗余更多，由于更多的腿的数目，理论上在非平坦地形上更灵活。爬行机器人不同于类似蜘蛛的八条腿分在身体两侧的机器人。尽管八条腿的机器人也许有更高程度的冗余和或许提供更高的能力在崎岖的路面上，他们需要更多能量，这会影响机器人的尺寸和移动性。 多足步行混合机器人英文文献和中文翻译(4):http://www.youerw.com/fanyi/lunwen_31396.html