Abstract
When a legged-robot walks on an irregular terrain such as a stricken area, some footholds may be collapsed by the force that the robot generates during its walking, and consequently the robot stumbles and falls. In this study we propose locomotion method that will not cause collapse of the environment by the robot walking. Furthermore, we propose a new knowledge for "leg-grope" and its domain that can detect the footholds without strumbling and falling.
