Abstract
We development the hexapod robot HARo-III as amphibian probe vehicle. However, we had a problem in waterproofing and lacking torque in the HARo-III to drive it by a motor. Therefore, we paid attention to artificial rubber muscle as actuator. This artificial muscle has high output density and is excellent in waterproofness. In this paper, we suggest two leg structures of a hexapod robot which applied artificial muscle (A pulley type and a diagonal type). And both structures are compared about the lift amount of the foot and support force by the approach from a theory. As a result, the diagonal type is made compactly, having the same performance as the pulley type.
