Abstract
Various robots to search in uneven ground have been developed. Carrying robots in uneven ground has a risk of injury to operators. If robots are able to throw in uneven ground, it is safe, easy and valid. To do this, it must be a durable robot. We have developed a quadruped robot with spherical shell what it is able to throw in uneven ground. Furthermore the successor can roll by infinity rotation of legs and a spherical shell. In this paper, the purpose of this study is to allow locomotion by changing disposition of leg without infinity rotation.
