Development of a rotating four-legged robot, PEOPLER for walking on irregular terrain

This paper describes the development of a walking robot PEOPLER, abbreviation of perpendicularly oriented planetary leg robot, for walking on irregular terrain or climbing stairs. The PEOPLER is originally designed with 4 rotating legs and featured by such function that a single actuator is enough to make motions of propel and kick-up. All legs are always aligned parallel to gravity by using servo control, without regard to the gradient of ground surface. We discuss important robot parameters to make locomotion stability and mobility high when hip joint has multiple knee joints. Experimental results show that the PEOPLER makes it possible to walk on irregular terrain and climb up and down stairs without falling. Self-turn is also successful, however robot position is affected on leg's friction by the ground surface.