Abstract
We propose a cm-order legged robot that can climb over obstacles and a vertical wall in hazardous environment. To support a high-performance rescue robot, it is available that many micro and cheap robots go into the narrow space between rubbles and the pipe and search distributely. In this paper, we developed a 3.5 cm long quadruped robot with claw feet driven by Ultrasonic Linear Actuators (ULA). The result showed that the robot walked at the fastest gait velocity of 7.92 mm/s when the ULA drive frequency is 75 kHz and walking cycle is 1.0 s, and climbed the slope of 45 degrees.
