Abstract
The goal of this paper is to improve 4-legged robot "Ryuma", and to investigate the influence of shaking the head in walk gait. We moved the position of DC motor of knee joint from the fore leg to its body to reduce fore leg's weight and its moment of inertia around the shoulder joint. In addition, we added a passive joint in the neck. By the new neck joint mechanism, the head can keep the same posture to the body all the time. We measured inclinations of the body and knee joint angle in walk gait with and without shaking the head. As the result, we found that the body posture and knee joint angle are more stable with shaking the neck than without shaking.
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