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15.Quadruped Walking Robot
　　Legged locomotion is a technique which provides robots with great adaptability to various types of terrain. An experimental robot called "TURTLE-2" has been developed. This unit has four rigid legs each of which employs a new link mechanism having three degrees of freedom. TURTLE-2 can walk stably over rough terrain or slopes by controlling the leg motion using the information obtained from a force sensor located in each foot.

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