Abstract
In this paper, the turning motion of a three-legged robot is subjected. The robot consists of one actuated leg and one pair of passive leg. The active leg has a knee joint and an ankle joint. And the passive leg has no knee joint, but it has a passive ankle joint. The passive leg part and the actuated leg part are linked by a hip part. The robot behavior is passive while the robot is supported by its passive legs and swings the actuated leg part. For the purpose of changing the direction of walking, additional joints at side legs are proposed.
