Naoto Yasutani

Tripedal walking robot with fixed coxa driven by radially stretchable legs

In this paper, we propose a new kind of tripedal locomotion—namely, robotic walking with three legs. We develop a prototype robot, which we call Martian III, having three stretchable legs fixed to each other at the center of the body. Therefore the coxa (the hip joint) is completely fixed in this ro…