| 摘要 |
PURPOSE:To shorten a moving time, by a method wherein plural legs except the support legs of a moving robot. CONSTITUTION:When a left front leg 1 is raised by one step in a condition to place a part of a body 5 on steps, a right rear leg 4, simultaneously, is raised by one step. In this case, a left rear leg 2 and a right front leg 3 are left earthed, and a robot body 5 is stably supported. The right front leg 3 and the left rear leg 2 are simultaneously raised by one step, and the body 5 is moved upward by one step in a state to raise the whole legs by one step, and a series of motion is completed. |
