AN OMNIDIRECTIONAL 6-LEGGED WALKING ROBOT

This paper describes an omni-directional walking robot, which has six legs and can move in any direction. The mechanism consists of a parall el link mechanism connecting the two frames with three linear actuator s. Legs are attached to each frame. The relative position and angle of the two frames are selected arbitrarily in accordance with the length of three actuators. The walking mechanism is composed by combining th em with extendable legs. The mechanism and control method of this robo t are presented. Walking and inclination experiments were performed wi th an experimental prototype model, and desired movement is attained.