An omni-directional six-legged walking robot

Abstract

This paper describes an 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. The walking mechanism is composed by combining them with extendable legs. The mechanism and control method of this robot are presented. Walking and inclination experiments were performed with an experimental prototype model, and desired movement is attained.