<p>This book describes the development of an integrated approach for generating the path and gait of realistic hexapod robotic systems. It discusses in detail locomation with straight-ahead, crab and turning motion capabilities in varying terrains, like sloping surfaces, staircases,&nbsp;and various user-defined&nbsp;rough terrains. It also presents computer simulations and validation using Virtual Prototyping (VP) tools and real-world experiments.<br> <br> The book also explores improving solutions by applying the developed nonlinear, constrained inverse dynamics model of the system formulated as a coupled dynamical problem based on the Newton-Euler&nbsp;(NE) approach and taking into account realistic environmental conditions. The approach is developed on the basis of rigid multi-body&nbsp;modelling&nbsp;and the concept that there is no change in the configuration of the system in the short time span of collisions.</p>