抄録
In this paper, an idea named LFD(Leg Functions Distribution) for a quadruped robot is explained. A quadruped robot which reflects this idea has different leg functions between fore-feet and hind-feet. The fore-feet have the gravitational support function. Conventional walking robot has the center of gravity at the center of the fuselage, however this machine has the center of gravity at the front of the fuselage. The hind-feet have the function of generating driving forward force. Because the center of gravity is distributed at the front part, it makes possible for the hind-feet to reduce generating the gravitational support force. This simple mechanism is developed by using a counter balance. In this paper, V/H ratio is also defined. V/H ratio shows the proportional value in percent of this idea. Some numerical results using DME(Dynamic Manipulability Ellipsoid) and V/H ratio are described.
