Abstract
Robots have recently become more active participants in human life. They are being studied and developed actively all over the world, and are designed for use in various areas. Multi-legged robots, such as those with six legs, are highly adaptable to various environments and terrains. We focused on a robot's ability to walk in mud, as such walking is particularly difficult, especially on uneven surfaces. Based on the results of our past walking experiment, from which we determined that walking instability is due to a loss of balance caused by decreased power and instability of the support legs in mud, we aimed to achieve stable walking ability by center of gravity control use the support legs.
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