抄録
In this paper, we discuss about the development of quadruped robot TITAN-XIII and dynamic gait. We designed TITAN-XIII as experimental quadruped robot especially for dynamic gaits and its concepts are "Light weight", "Wide range of motion" and "Easy maintenance". To do dynamic walking, low intertia of legs is important, so we place each motors at the base of leg by using Wire Drive Mechanism which use new material. We also proposed simple dynamic gait which uses Acceleration and Deceleration. In experiment, TITAN-XIII managed to walk at 0.7m/s using proposed gait.
