Giacometti Six-legged Walking Robot

Abstract

This research presents Giacometti gait mechanism for the Giacometti robot. Motivated by the Giacometti structure, which is thin and long, the robot has leg design that is non-stiff and deformable which makes it difficult to walk with conventional walking gait. Using the proposed gait, walking experiment was conducted with various input pressure and gait frequency and could achieve stable walking at 0.05m/s.