4-legged mechanism of realizing dynamic running. - Basic movement of prototype II with drive system that enables locomotion change -

This paper discusses the possibility to realize both of walking and running by a single robot, which is made by the combination mechanism of linkages and actuators. This linkage mechanism have actuators below the number of joint, therefore it enables to reduce the weight of the robot. This study aims at realizing the 4-legged locomotion by controlling the phase to manipulate the legs made by linkage mechanism. This paper firstly shows feature of prototype II that has improvement drive unit that is able to changing locomotion while moving. Next, we shows design of control system that was able to changing locomotion while moving.