抄録
The purpose of this study is to examine the performance of the walking control of a six legged robot with a leg consisting of one link. A six legged robot that concepts are small, easy to control and low-cost is made. The shape of the leg is semicircle, and is composed of one link mechanism. The reference of the leg is generated, legs are controlled to follow the reference by PD control, and the six legged robot realized a stable walking. The height of the six legged robot is calculated from the reference of the leg and the angle of the joint, and the stability of the six legged is evaluated. The walking performance of the six legged robot is examined by the experiments.
