The present invention concerns a hexapod system (1) comprising first (2) and second (3) supports and six linear actuators (10a, 10b, 10c, 10d, 10e, 10f), each linear actuator having two ends articulated respectively at the first (2) and second (3) supports by a ball and socket joint (41, 42, 43, 44), characterised in that it comprises: a force transfer structure (50) embedded on the first support (2) and coupled to the second support (3) by a ball and socket joint (51, 52) of which the centre of rotation (60) is located in the thickness of the second support (3). The invention also concerns an inspection and/or repair robot characterised in that it comprises a poly-articulated arm provided with a plurality of hexapod systems (1) according to the invention and in which the hexapod systems (1) are disposed in series.