抄録
In general, a legged locomotive robot is considered to be suitable for movement on non-level terrain.Therefore, we have studied a six-legged robot that can move and operate on non-level terrain. In this study, to verify the effectiveness of a six-legged robot on marshy terrain, which is one type of non-level terrain environment, we carried out an experiment to measure electric power consumption during walking in environments of both level and marshy terrains, choosing four and five as the number of supporting legs. As a result, in both cases of four and five supporting legs, the robot's electric power consumption on marshy terrain was smaller than that on level terrain. The results show that a six-legged robot can walk more efficiently on marshy terrain than on level terrain.
