Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach’s leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.

Abstract
1. 서 론
2. 설 계
    2.1 구동부와 트랜스미션
    2.2 다리
3. 제 작
    3.1 SCM 제작 방법
    3.2 소형 6족 주행 로봇 프로토타입
4. 실험 과정
    4.1 다리 강성 측정 실험
    4.2 강성과 Payload에 따른 주행 속도 실험
5. 결과 및 고찰
    5.1 다리 강성 측정 실험
    5.2 강성과 Payload에 따른 주행 속도 실험
6. 결 론
References

• 채수환(Mechanical and Aerospace Engineering, Seoul National University) | Soo-Hwan Chae
• 백상민(Mechanical and Aerospace Engineering, Seoul National University) | Sang-Min Baek
• 이종은(Mechanical and Aerospace Engineering, Seoul National University) | Jongeun Lee
• 임소정(Mechanical and Aerospace Engineering, Seoul National University) | Sojung Yim
• 유재관(Unmanned/Robotic Systems Lab. LIG Nex1, Seongnam) | Jae-Kwan Ryu
• 조용진(Unmanned/Robotic Systems Lab. LIG Nex1, Seongnam) | Yong-Jin Jo
• 조규진(Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University) | Kyu-Jin Cho Corresponding author