Since 2007 a family of new hexapod robots has been developed at CIE. The Ragno robots are results of Master Theses. The Messor robot was designed in the project funded by the Polish Ministry of Science and Higher Education Grant No. N514 294635. I was mainly responsible for the electronic design and control system of the robots. The robots are used to develop algorithm and methods for autonomous locomotion in an unknown and unstructured environment.


  1. D. Belter, K. Walas, A. Kasinski, Distributed control system of DC servomotors for six legged walking robot, EPE PEMC - 13th International Power Electronics and Motion Control Conference, Poznan, Poland, September 1-3 2008, CD-ROM

  2. K. Walas, D. Belter, A. Kasinski, Control and Environment Sensing System For a Six-Legged Robot, Journal of Automation, Mobile Robotics & Intelligent Systems, vol. 2 (3), pp.26-31, 2008

  3. D. Belter, K. Walas, P. Skrzypczyński, Autonomous Six Legged Walking Robot - Design and Control Architecture Development (in Polish), Pomiary Automatyka Robotyka, 2 (CD-ROM), 2009

  4. K. Walas, D. Belter, Messor - Versatile walking robot for search and rescue missions, Journal of Automation, Mobile Robotics & Intelligent Systems, vol. 5(2), pp. 28-34, 2011