4-Legged Mechanism of Realizing Dynamic Running. -Movement Performance Assessment of Locomotion Pattern by Prototype I-

This paper discusses the possibility to realize both of walking and running by a single robot, which is made by the combination mechanism of linkages and actuators. This linkage mechanism have actuators below the number of joint, therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. This paper firstly shows the designing of leg mechanism with effective linkage systems. And the kinematics simulator is developed and the performance of the prototype I is tested. In result some issues are found. Next, we shows design of prototype II that is improved above issues. Prototype II has improvement drive unit that is able to changing locomotion while moving.