Locomotion Analysis of Multi-Legged Robot with Active Segmented Trunk /

In this paper a multi-legged robot which can drive segmented trunks actively is proposed and the locomotion analysis based on the kinematics is performed The multi-legged robot, which can walk using segmented trunks, can expand their field of activities In the multi-legged robot proposed in this paper a segmented trank has a pair of legs which can only move vertically and contact the ground On the other hand the segmented trunks make a travelling wave horizontally In this paper we propose a way to make a trajectory of the segmented trunks and analyze the propulsive power based on the kinematics