抄録
This paper presents a novel four-limb robot which possesses good adaptability to extreme environments. Extreme environments can be classified into three indexes: unevenness, narrowness, and inclination. Because each limb has a common structure, the proposed robot can walk with two or four limbs. Robustness against mechanical failure is increased because the robot can continue to move with two limbs if one or two limbs are broken. The four-limb robot has high accessibility in extreme environments such as passing a narrow space, ascending spiral stairs, climbing a vertical ladder and so on. The robot can also maintain high stability on uneven terrain by making the trunk contact on the ground.
