The advantage of using legs instead of wheels are several, including better mobility and maximizes energy consumption. Moreover, a leg can be taken into account as a useful arm if the design promotes it. Following this idea, here we describe a six-legged platform called CRABOT, a 3D-printed robot able to be self-sustained by at least four of its legs, leaving other two for robot-object interactions. Integrating a 4D camera, CRABOT has been designed for exploration of environments, while is capable of manipulating objects with any of its legs. This article is focused on the hardware design of the platform and its inverse kinematics required for achieving movement. As possible future extensions, there is still an open issue on the design of different manipulators attachable to the platform.

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