Development of “MEL HORSE”

A new legged machine named “MEL HORSE II” is developed. MEL HORSE II is a quadruped robot. Different leg-functions are assigned for fore-feet and hind-feet. The fore-feet have the gravity-support function. Unlike the conventional walking robot which has the center of gravity at the center of fuselage, MEL HORSE II has the center of gravity at the front of the fuselage. The hind-feet have the function of generating forward force. Since the center of gravity is distributed at the front part, the hind feet are allowed to reduce the gravity support. We develop these simple mechanism by using a counter balance. Furthermore, an analysis using the proposed vertical/horizontal (V/H) ratio is done. The V/H ratio is a affiliated value from dexterity for measurement of the gravity support function and forwarding function. For leg control, an enhanced passive biped control is proposed. It integrates both biped control and quadruped control