抄録
The transportation of the object by the legged robot of the plural or units has been being researched so far. It will be thought that the path plan to base the environment which hits doing of the legged robot such as differences and slopes and obstacles the transportation work becomes important in the future. Then, this research assumes a complex environment when the ship comes alongside the pier to be a shake model of the grounding plane agitation, constructs the environment first on the simulator, and proposes a suitable posture control for four loading transportation of the robot.
