Micro walking robot design for planetary exploration

Many researchers have earnestly studied and developed walking robots. Because walking robots have so high mobility that they can move on rough terrain, climb steps, and cross ditches. In the field of planetary exploration, robots with multiple legs are expected to explore inside craters etc. However, so far developed walking robots are too big and heavy to explore the lunar or planetary surface. So this paper proposes a novel design scheme for developing a small and light-weight rover with multi-legges. To show the effectiveness of the proposed scheme, the design analysis on dynamic motion and some experiments are performed.