806 Research of walking algorithm for 6-Legs-Robot on leg-failure

Abstract

As f( )r the 6−le 伊 ・ fobot ， a static walking is always adhieved ， it is possible to walk ． Here ， the loss of the leg is thou 帥 t by some circ mstances in the disaster slrpport robCt while walkingofthe disaster sq 】 po 【 t． Ih that case ， it is not possible to keq〕 wa 皿 dllgby a usual wa ga 董 g )rithm ． Th ， the walking algr 〕ritkm at the fadures up totwowas exarnined ． Key W6rds：IZobot walk −− Algorithm ' θ 9適 ぬ r 召