Abstract
Legged robot is one of the ideal mechanisms for moving around muddy, irregular, and fragile surfaces. However, once it is turned over, it is not easy to recover, or is needed for special mechanisms, which cause the robot unnecessarily complex. To realize powerful yet simple legged machine that is able to self-recover from unexpected rolling, we developed a polyhedral shaped robot that has legs capable of performing tripod gait on every face. In this paper we show that this type of multi-faces tripod gait is realized by a simple gears and links mechanism driven by a single motor.
