抄録
In this paper, we report development of forelegs and a body of a 4-legged robot that has similar link length ratios to a horse. In the previous papers, we already reported a 4-legged robot with a neck joint and a head. The forelegs of the robot had only two joints (shoulder and elbow) because forelegs had to move as fast as possible. However, the position of a shoulder of the leg is too high compared with a real horse. Therefore, we changed the height of the shoulder joint to lower position. Also, we changed motors of the foreleg joint to obtain enough torque. We conducted step and frequency response experiments to obtain best gain values and to evaluate the new legs. As a result, we conclude that the robot have enough ability to walk and trot.
