Study of walking robot for 3 dimensional terrain

In developing legged robots the most important problems are the design of leg mechanism and the determination of how to drive it. We have already suggested the 'gravitationally decoupled actuation (GDA)' and 'coupled drive' for ground walking robot and wall climbing robot respectively. In this paper, we discuss about these problems for a legged robot in '3-dimensional terrain ', a generalized terrain including not only rough ground but also rough walls and rough ceilings, based on 'GDA' and 'coupled drive'.