Abstract
We developed hydraulically actuated hexapod robot COMET-IV which assists various hazard operations. The purpose in this paper is to ascend and descend almost 1 m vertical step. Stability may decrease because of the heavy rough terrain. So we applied position / force hybrid control with attitude control. In addition, we use pressure sensors in hydraulic cylinder for the outdoor locomotion. We show 60 cm vertical step locomotion test result and verify the effectiveness of the control system and evaluate the performance of COMET-IV.
