Abstract
This paper discusses the possibility to realize both of walking and running by a single robot, which is made by the combination mechanism of linkages and actuators. This linkage mechanism have actuators below the number of joint therefore it enables to reduce the weight of the robot This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. This paper firstly shows improvements of issues of prototype I that was developed last year. Next, we shows design of prototype II that was improved above issues. Prototype II has improvement drive unit that is able to changing locomotion while moving.
