抄録
A working six-legged robot with four-fingered hands is developed. Each leg has one hand. The fingers of each hand are driven by one motor, and they open and close radially. Thus the hand can grasp a block object from all quarters and can hold a long object in two directions. The closed fingertips form a point support. Hence the robot can walk by landing on the fingertips. The payload of the hand is measured. Manipulation with the hands and six-legged locomotion are tested.
