Development of leg-functions coordinated robot “MEL HORSE”

A new legged machine named “MEL HORSE” is developed. MEL HORSE is a quadruped machine and has different leg-function between front legs and rear legs. The front legs has the gravity-support function. However, conventional walking robot has the center of gravity in the center of body, MEL HORSE has the center of gravity at the front of the body. The rear legs has the function of generating forward force. Because the center of gravity is distributed at the front part, it is possible for rear legs to reduce generating support force of gravity. We developed these simple mechanism by using counter balance. Furthermore, we also interested in joint redundant mechanism which is adapted for cursoriality like as horse. “Redundant Leg” is also developed and installed into MEL HORSE. The paper makes basic simulation experiments and control method of “MEL HORSE” and “Redundant Leg”