A small and lightweight crawling robots have been actively studied thanks to their outstanding mobility and maneuverability. Those robots can navigate into more confined spaces that larger robots are unable to reach or enter such as debris and caves. In this paper, we propose a milli-scale hexapedal robot based on planar linkage design. To make this possible, two necessary conditions for successful crawling are satisfied: thrust force from the ground and aerial phase while running. These conditions are achieved through a newly developed leg design. The robot has a pair of legs and each leg has three feet. Those feet alternatively moves based on 1DOF planar linkage. This linkage is installed at each side of the robot and finally the robot shows the alternating gait and aerial phase during running. As a result, the robot runs with the crawling speed of 0.9 m/s.

Abstract
 1. 서 론
 2. 로봇 디자인
  2.1 다리의 교차적 움직임
  2.2 다리 경로 디자인
 3. 다리 경로 분석
 3. 실험 및 결과
  3.1 실제 로봇의 다리 위상 차이 및 경로 확인
  3.2 주행 테스트
 4. 결 론
 References

• 김동선(SeoulTech, Seoul, Korea) | Dong-Sun Kim
• 정순필(Arotech, Changwon, Korea) | Sun-Pill Jung
• 정광필(Mechanical and Automotive Engineering, Seoul National University of Science and Technology, Seoul, Korea) | Gwang-Pil Jung Corresponding author