Abstract:

This  paper proposes the new innovated 4-legged Locomotion mechanism with pantograph-jack structure as its leg.This study aims at developing the practical robotic system, especially focusing on the carrying task of heavy load. Transportation of heavy load occupies the important parts among the real applications such as disaster relief and rescue activities.The jack-like legen ables to hold a heavy object  with out any active control and consumption of energy. Additionally, it can lift up an object easily by smaller power  than  weight  of object . Prototype uses the craw l walking which is a typical locomotion way of a reptile, and it has achieved this step by bending its waist.The prototype realized the 0. 001 m/s walking and payload of 45 kg .This paper deal swith the concept of locomotion mechanism with  jack-type leg, details of design of prototype and some properties by some basic experiments.
 

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