Abstract
In this paper, we will compare the walking behavior of quadruped and hexapod walking MEMS robots. These robots are fabricated by connecting same modules, which are composed of a couple of independent leg mechanisms. Independent leg mechanisms can actuate the single leg by a single artificial muscle wire. The neural networks IC that mimics real living organisms controls the mechanical systems. The length and weight of the quadruped MEMS robot were 7.2 mm and 95.8 mg, respectively. The quadruped robot showed the walking speed of 24.6 mm/min. The robot tended to lose its balance and the weight balance is quite important for the moving quadruped. On the other hand, the length and weight of the hexapod MEMS robot were 9.0 mm and 162 mg, respectively. The hexapod robot showed stable walking. The speed was 27.0 mm/min.
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