Abstract
This study aims at performing walking of a robot naturally rather than walking of the robot by using precise control of a reduction gear motor mechanically. As a preliminary step, it has been intended that a two-leg mechanical robot with actuators walks stably. We have developed the two-legged walking robot with actuators that have springs and motors. It becomes possible to make the robot self-standing without the addition of external force by using springs. Further, it also leads to reduction of the number of actuators and the weight of the robot. The walking acted spring forces is nonlinear and very complicated, and there are many kind walking patterns. Therefore, we adopted the swarm intelligence algorithm in the simulation of the robot walking.
