Abstract
We studied moving motions by using the arms and the legs of small size humanoid robot SANDY-3 (450mm, 1.6kg, 24DOF). SANDY-3 was designed based on the skeleton of human. We made the moving motion of crawl on the back, roll-over, crawl on the hands and knees and walk on the knees. And, to make the motion of robots, we considered the physics (α: Principle of conservation of angular momentum, β : Principle of conservation of linear momentum, γ: Frictional force, δ: Positional relation between gravity point (G_p) and Support polygon (S_p)).
