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A quadruped walking vehicle TITAN VI having a new leg mechanism is designed and manufactured .Objectives of design of TITAN VI are to walk on an ordinary staircase of 30 to 40 degrees , to constitute an active platform which assists manipulation in the stationary condition , and to walk at a high speed by using dynamic walk.The new mechanisms introduced in TITAN VI are , 1) prismatic joint leg mechanism which does not interfere with the steps of a staircase, and which performs a cylindrical coordinates motion with good energy efficiency, 2) an articulated body structure having node which copes with a steep staircase, 3) a vertical foot driving system having a dual mode transmission mechanism and the like:The detail of these mechanisms are discussed . The effectiveness of these considerations are verified by the walking experiment using the trial-manufactured TITAN VI .

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