Abstract
In nature there are many insects with obvious differences in the length of each leg. However, there was not much discussion about the influence of these leg length differences on walking. So in this research, in order to elucidate the influence of the difference in leg length on walking, we focus on locusts, whose hind legs are considerably longer than other legs, and developed a six-legged walking robot based on the structure of locust. The developed walking robot is controlled by changing leg trajectories according to the installation state of each leg. We conducted walking experiments with the developed robot while varying the length of the hind legs and confirmed that leg length affects walking speed of the robot. These results suggest that there is a length of the hind leg suitable for walking.
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