3족보행이 가능한 4족보행로봇에 관한 연구

This paper introduces an working robot. four leg Walking type robot most of the existing problems at the walk, move the center of weight due to instability of posture. To compensate for these drawbacks, the structure of the leg design to rotate the joints and the joints, walking a straight line and at the same time, move the robot joints, linear joints and rotation changes in weight by almost do not occur, the body with balance and walking. Because of this, one side of the leg to be damaged, three leg is safety walking.