Abstract
Legged locomotion is suitable to move on uneven terrain. However the advantages of legged robots have not been achieved yet. In this study, a relationship between combinations of the joints and generated force or torque will be discussed. In this research,quadruped with four joints per leg is considered. These legs have a possibility to adapt a rough terrain more because of their redundancy. Redundant joint may change the direction of output force without losing the characteristics of maximum output force. After several considerations, three legs out of 81 combinations of joints are examined to simulate. Output force distributions during walking on at ground and slope are reported.
