Abstract
A silvi-culture walking machine having the linear motion mechanism, outrigger legs, and variable body structure was designed and experimented on walking. The linear motion mechanism is easy to control the tip of leg. Therefore, control of legs and the body are simple. The outrigger legs are able to realize static walk by spreading out of safety zone. The combination of variable body structure and linear motion mechanism is able to keep in the safety zone of a shadow point of the center of gravity. This model was experimented by the 4 types of walking on flat terrain and on a sandy soil of 15 cm depth. As a result of the experiments, more safety gait was right-front, left-rear, left-front, right-rear, and outrigger legs. It was able to keep the roll and pitch angles within ±1°on a sandy soil. It was able to keep the roll angles within ±1°by controlling the body horizontal for the legs sinking in sand.
