Abstract: Recent works and applications demonstrated how
bio-mimesis can lead to important technical solutions in order
to achieve efficient systems able to climb, walk, fly or swim.
A bio-inspired approach in robotic legged systems has been
adopted in this work in order to make a step further in the
study and realization of effective walking and climbing robots.
Thus, taking into account the anatomy and the adhesive and
locomotion capabilities of the spider, the foot force and torque
distribution in different operative and slope conditions are
studied, simulated and discussed in order to solve the static
and quasi-static problems. Moreover, in order to minimize the
energy requirements, a posture evaluation made by comparing
different leg configurations has been carried out.