Abstract
In this paper, we develop a small amphibious legged robot which travels on rough terrain, passes through narrow space, and runs on water surface. Although many robots have been developed to observe and investigate in a natural environment, rough terrain, bushes and swamp have disturbed their travel and operation. Here, we focus on a scale effect advantage that the smaller, the larger the area force against the volume force and manufactured a reduced degree of freedom hexapod robot with the body length of 5.2cm and the weight of 7.9g. As a result of on-water experiment, the robot with the specific gravity larger than 1 achieved the payload of 11g (116%) on water by the paddling of 19Hz.
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