Abstract
In our group, we have developed a micro robot composed of an electromagnet and piezo actuators. This micro robot has the height adjustment mechanism with the magnetic leg because this robot has four point contact points with the surface. However, there was observed some problems that reproducibility of operation was decreases by the wear-out of V groove slide mechanism. In this research, we improved the suspension mechanism of the electromagnetic legs by using the parallel leaf springs so that each of the leg can contact with the surface even on the rough .The performance of this newly improved walking mechanism is discussed in the experiment.
