Abstract
It has been a subject that the energy efficiency at the time of multi-legged walking robot movement is low compared with a wheel or crawler movement. In this paper, describes the multi-legged walking robot which realizes efficient movement by bringing movement of the center of gravity close to uniform straight line motion as much as possible using the slide mechanism to the progress direction. Moreover, the proposed gait model is compared with the model of general alternating-tripod gait It is shown that the energy efficiency of the proposed gait model is better than general alternating-tripod gait.
