抄録
This paper reports design and building of a four-legged robot that can walk in various gaits. We have developed a four-legged robot. However, the robot was designed for only one gait. Thus, we recalculated each joint torque required to achieve walk, trot and gallop gaits using Newton-Euler method. Based on the calculation, we chose appropriate motors, which required us redesigning of the body including the belt-pulley mechanism. The new body's dimensions were determined based on the length ratio between a forelimb and hind legs of a typical horse. As the result of redesigning, the dimensions of the body are 540 and 330 mm, which are slightly larger than our previous robot. We conducted some experiments to confirm whether each joint of the new robot can follow reference trajectories.
