Paper Title
Optimization of The Kinematics and Dynamics Performances of a Hexapod Robot

A numerical approach based on a well designed platform is proposed to optimize the kinematics and dynamics behavior of a hexapod robot. Several simulations are made on the platform by varying the mass of the robot, the lengths of the legs and the viscous coefficient of friction in the joints. The effect of this parameters changing would affect the active torques in the robot. Therefore sizing different motors of the legs is possible with a good sight on the energetic distribution. Keywords - Hexapod, Optimization, Simulink, Torques.