Abstract
Multi-legged robots like ones with six legs have high adaptability to various environments. We make use of this characteristic, and study a 6-legged robot for the purpose of walking in marshy terrain among non-level terrain. In this study, we design and manufacture an 18-DOF 6-legged robot. This robot has one rotary joint and two prismatic joints in each leg. We experimented to measure electric power consumption during the robot's walking in level and marshy terrains. In addition, we compared the influence of marshy terrain on two types of foot shapes. As a result, with this robot, electric power consumption on marshy terrain was slightly higher than that on level terrain. In addition, as for foot shape, electric power consumption with a reverse-dome shape was higher than a dome shape.
