Research on Leg Mechanism for Rovers with High Traverse Ability and Energy Efficiency

This research develops a leg for rover that has higher performance than wheels by using advan-tages of leg and solving problems of existing legs. The designed leg is a simple mechanism driven by a rotation axle and does not make vertical oscillation of the body. Therefore, this mechanism is excellent in terms of energy efficiency compared with other leg mechanisms that generate vertical oscillation of the body. Experimental models with the developed leg mechanisms are constructed by using a radio control car. Utility of the developed leg mechanism is manifested by evaluation of traverse ability and energy efficiency using the experimental models and the numerical simulations