Posture control of 6-leg walking robot

Abstract

This paper describes a walking method and inclination control experiments of the new omni-directional walking robot, which has six legs and can move in any direction. The mechanism consists of a parallel link mechanism connecting the two frames with three linear actuators. Legs are attached to each frame. The relative position and angle of the two frames are selected arbitrarily in accordance with the length of three actuators, and the posture of it's upper surface are changed with extendable legs. The walking mechanism is composed by combining the two functions. The mechanism and control method of this robot are presented in this paper.