Abstract
As a result of the research, the insect with fast passing speeds such as cockroaches and ants is clear
moving by alternation tripod walk. It is not influenced and it is possible to walk even in the place where
ground is uneven because three legs of six legs contact the ground in turn, and there is center of gravity of
the body in a triangular inside. This paper describes the mechanism and the control of the alternation tripod
walk movement body which was produced, and the experiment that changed the walking patterns by the
control program.
