Fig. 1. 3D CAD model of the proposed leg design: a) leg assembly with its part names; b) exploded view of one module.

a)                                                             b)

Fig. 2. A leg prototype having three dofs: a) a built prototype of the model in Fig.1 including cabling; b) a kinematic scheme.

a)                             b)

Fig. 3. Maximum step size of the proposed robotic leg: a) step height; b) step length.

Fig. 4. A prototype of Cassino Hexapod that has been designed and built at LARM in Cassino.