Abstract
This paper proposes a new configuration of six legged robot which can walk forward/backward, on curbed path, and with pivot turn. It basically can walk on uneven terrain. A relationship of locomotion function and required number of actuators is discussed, based on a tripod walking style. For a straight walk and pivot turn, 2 actuators are required for a horizontal movement. For a terrain adapting function, required number of vertical actuators can be reduced to 2 if the maximum number of ground contact foot at once limits 5 instead of 6. A 4-actuator six legged robot can be designed by a combination of these 2 and 2.
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